PC60 Inverted Pendulum

Inverted pendulum, Motor, Sensors

By a three-phase synchronous drive, a toothed wheel and a toothed belt a cart is driven along a guiding bar. A revolving pendulum is mounted on top of the cart. The sensors are a two rotary incremental encoders for the position of the cart and the pendulum angle. The system is built on aluminium profiles and covered with a plastic container outside of the range of the pendulum. The electrical signals are connected through multi-pin plugs.

Dimension Sizes and
Weight of the System

• Length: 1880 mm
• Depth: 430 mm ( + 35 mm for the pendulum axis)
• Height: 270 mm
• Weight: 40 kg

Inputs:

• motor nominal voltage (+24 V, nom. 12,5 A, nominal torque 0,7 Nm)
• + 15 V inductive proximity switch supply voltage
• +5 V incremental encoder supply voltage

Outputs:

• 2 limit switches (left/right)
• position (incremental encoder: 0.044 mm/incr, range: +⁄− 600mm)
• angle (incremental encoder: 0.022°/incr)
• 2 binary system identification signals

Actuator with power supply and system control
Inside a 19"-case (length 470 mm x depth 370 mm x height 156 mm, weight 10 kg) there are a servo unit, a power supply and two system control units (System Status, User Control). The system status displays whether the plant is connected to actuator, the system is ready to operate, the plant type as well as manual/PC/ external controller. The user control contains two keys (start manual or external controller), one potentiometer (manual control signal), two measurement outputs (control signals for servo amplifiers) and two signal inputs (external control signals for servo amplifiers) as well as a key to stop any controller. The servo amplifier for the system Loading Bridge is already included in the standard version. Actuator mains supply (220 V, 50 Hz, 400 W, on request 110 V, 60 Hz)

Inputs servo amplifier:

• 2 limit switches (left/right)
• control signal -10 ... +10 V
• servo enabled/disabled

Output servo unit:

• control signal for the motor
  

Extension kit pendulum. (Option 60-20)
Premounted plate with bearings, rotary encoder, electrical connections and pendulum (length 50 cm, weight 215 g).

Digital controller (Option 60-22)
Executable Windows controller program (WINDOWS 7-10) for a PC with PCIe slot, documentation of practical course.

Inputs:

• 2 incremental sensor signals (position, pendulum angle)

Outputs:

• control signal for the servo unit -10 ... +10 V
• enable/disable servo

C++ source of digital controller(Opt. 60-25)
C++ source files of the PC controller program including library functions for graphic output, controlling the sampling period as well as controlling the PC adapter card (requires Opt. 60-22, Embarcadero C++ Builder V10).

Technical data are subject to change (Date 4-December-2017)