Item Description

Features

• non-linear, one-dimensional single-variable system with two actuators
• inverted pendulum with one input and two outputs
• fast, real-time control using microcontroller
• implementing fuzzy algorithms
• microcontroller-based development process for process control systems

The unstable “inverted pendulum” system acts as a mechanical single-variable system. The upright position of the pendulum is adjusted by two independent propeller drives and should be achieved quickly and if possible, without overshooting. A fuzzy control will be developed and optimized for this purpose.

The inclination of the pendulum is measured by a potentiometer. The sensor supplies a crisp signal to the fuzzy controller, where the signal is transformed into a fuzzy input value and inferenced before being transformed back into a crisp output value. This output value controls the actuators, two propeller drives.

Sci-tech Inverted Pendulum Apparatus Model MT 115’s learning contents of the experimental unit are extended by ‘Controller Unit’ that is more complex because of its two independent drives. Conducting the experiment makes high demands on the system optimization, as the two independent drives have to be tuned.

The control algorithms are initially written and simulated in the user-friendly development software ‘Sci-Cal’ and then compiled to generate microcontroller code. The control strategy can be optimized at a later date.

Control algorithms are created, simulated and translated into microcontroller code in the user-friendly developer program.