1 Assignment for Mechatronics and Automation (767007) Case study, modeling and simulation of an inverted pendulum system 1. Introduction Inverted pendulum (IP) is a popular platform for testing control algorithms and it finds applications in many areas (e.g. Segway self-balancing transportation, rocket or missile guidance etc.). It contains almost all the key modules found in typical mechatronic system such as actuation, sensing and control. Fig 1 schematically shows a simple one-stage linear IP. Document Preview: 1 Assignment for Mechatronics and Automation (767007) Case study, modeling and simulation of an inverted pendulum system 1. Introduction Inverted pendulum (IP) is a popular platform for testing control algorithms and it finds applications in many areas (e.g. Segway self-balancing transportation, rocket or missile guidance etc.). It contains almost all the key modules found in typical mechatronic system such as actuation, sensing and control. Fig 1 schematically shows a simple one-stage linear IP. The pendulum is stabilised vertically by controlling the linear motion of the cart on which it stands. There are different driving mechanisms and controllers to produce the motion of the base. Fig 1: Inverted pendulum (IP) Fig 2: Pendulum -IP1 Fig 3: Pendulum -IP2 Fig 2 and Fig 2 shows the photos of two IPs installed in the lab which will be studied in this assignment. Some of their key system parameters are attached in Appendix 1. The specifications of the key components of the system are listed in Appendix 2. In this assignment, you are required to complete the following three tasks Case study of two inverted pendulum systems (IP) Dynamic modeling and simulation for the cart motion of IP 2 Simulation of a PID controller for the cart motion of IP 2 Dynamic modeling and simulation for the pendulum motion of IP 2 (optional) 2 2. Tasks 2.1). Case studies for IP1 and IP2 For each IP, (a). describe the overall structure of the IP system. (b). identify the basic modules of the IP actuators, sensors, computing and motion transmission units, and explain their functions. (c). draw a schematic to show the basic modules of the IP and the relationships among them. 2.2). Dynamic modeling and simulation for the motion of the cart of IP2 open loop You need to use the results obtained in 2.1 and MATLAB/SIMULATION package for this task. Assume that the pendulum is taken away from the cart. (a). choose the motor voltage as input and the cart displacement as output, derive the Attachments: Assignment.pdf; 1 Assignment for Mechatronics and Automation (767007) Case study, modeling and simulation of an inverted pendulum system 1. Introduction Inverted pendulum (IP) is a popular platform for testing control algorithms and it finds applications in many areas (e.g. Segway self-balancing transportation, rocket or missile guidance etc.). It contains almost all the key modules found in typical mechatronic system such as actuation, sensing and control. Fig 1 schematically shows a simple one-stage linear IP. Document Preview: 1 Assignment for Mechatronics and Automation (767007) Case study, modeling and simulation of an inverted pendulum system 1. Introduction Inverted pendulum (IP) is a popular platform for testing control algorithms and it finds applications in many areas (e.g. Segway self-balancing transportation, rocket or missile guidance etc.). It contains almost all the key modules found in typical mechatronic system such as actuation, sensing and control. Fig 1 schematically shows a simple one-stage linear IP. The pendulum is stabilised vertically by controlling the linear motion of the cart on which it stands. There are different driving mechanisms and controllers to produce the motion of the base. Fig 1: Inverted pendulum (IP) Fig 2: Pendulum -IP1 Fig 3: Pendulum -IP2 Fig 2 and Fig 2 shows the photos of two IPs installed in the lab which will be studied in this assignment. Some of their key system parameters are attached in Appendix 1. The specifications of the key components of the system are listed in Appendix 2. In this assignment, you are required to complete the following three tasks Case study of two inverted pendulum systems (IP) Dynamic modeling and simulation for the cart motion of IP 2 Simulation of a PID controller for the cart motion of IP 2 Dynamic modeling and simulation for the pendulum motion of IP 2 (optional) 2 2. Tasks 2.1). Case studies for IP1 and IP2 For each IP, (a). describe the overall structure of the IP system. (b). identify the basic modules of the IP actuators, sensors, computing and motion transmission units, and explain their functions. (c). draw a schematic to show the basic modules of the IP and the relationships among them. 2.2). Dynamic modeling and simulation for the motion of the cart of IP2 open loop You need to use the results obtained in 2.1 and MATLAB/SIMULATION package for this task. Assume that the pendulum is taken away from the cart. (a). choose the motor voltage as input and the cart displacement as output, derive the Attachments: Assignment.pdf
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