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Quanser IP01 User Manual

Single inverted pendulum (sip)
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Linear Motion Servo Plants: IP01 and IP02
Single Inverted Pendulum (SIP)
User Manual

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Summary of Contents for Quanser IP01

  • Page 1 Linear Motion Servo Plants: IP01 and IP02 Single Inverted Pendulum (SIP) User Manual...

  • Page 2: Table Of Contents

    IP01 and IP02 - Single Inverted Pendulum (SIP): User Manual Table of Contents 1. Single Inverted Pendulum (SIP) Mounted on a Linear Cart (IP01 or IP02)......1 1.1. Single Inverted Pendulum: System Description............1 1.2. Inverted Pendulum Experiment: Control Challenge............1 2. Single Pendulum Module: Applications................3 3.

  • Page 3: Single Inverted Pendulum (Sip) Mounted On A Linear Cart (Ip01 Or Ip02)

    IP01 and IP02 systems. However, it is reminded that, in the case of the IP01, a potentiometer is mounted on the axis of rotation, thus allowing the measurement of the rod angle with the vertical axis. By oppo- sition, the same rod angle is measured, on the IP02, by use of a quadrature incremental en- coder.
  • Page 4 IP01 and IP02 - Single Inverted Pendulum (SIP): User Manual Figure 1 Medium SIP on the Figure 2 Medium SIP on the IP02 IP01 Figure 3 Long SIP on the IP01 Figure 4 Long SIP on the IP02 Document Number: 511 ! Revision: 03 ! Page: 2...

  • Page 5: Single Pendulum Module: Applications

    Table 1, below, provides a list of the Quanser linear motion experiments using the single pendulum module. Quanser's basic linear motion servo plants are the IP01 and the IP02.

  • Page 6: Single Pendulum Description

    IP01 and IP02 - Single Inverted Pendulum (SIP): User Manual 3. Single Pendulum Description 3.1. Component Description and Nomenclature As shown in Figures 5 and 6, below, there are two kinds of single pendulums, depending on their length. The "medium" pendulum is 12-inch long, in contrast with the "long" pendulum, which has a length of 24 inches.

  • Page 7: Space Requirements

    3.2. Space Requirements In the single inverted pendulum configuration (i.e. when the pendulum rod is vertical, pointing upwards), both IP01 and IP02 systems require an overall space of 40-inch long by 28-inch high by 6-inch deep, as characterized in Table 3, below.

  • Page 8: Single Inverted Pendulum: Configuration And Setup

    4. Single Inverted Pendulum: Configuration and Setup The mounting of the single pendulum on both IP01 and IP02 is illustrated in Figures 7, and 8, respectively. The nomenclature of both system assemblies can be found in Table 2, previously reviewed, and Table 5, below, which complements the listing.

  • Page 9: Setup Procedure For The Default Sip Configuration

    Step 3. Optionally, you can clamp the track down to the table using its end plates. Step 4. Wire up the IP01 or IP02 cart as per dictated in Reference [1], where the Quanser's standard wiring conventions are fully described. No further electrical cabling is required in setting up the pendulum, as all the connections are done at the IP01 or IP02 level.

  • Page 10: Single Pendulum Model Parameters

    6. References [1] IP01 and IP02 User Manual. [2] IP01 and IP02 - Single Inverted Pendulum (SIP) – Linear Experiment #5: LQR Control - Student Handout. [3] IP01 and IP02 - Single Inverted Pendulum (SIP) – Linear Experiment #5: LQR Control –...

This manual is also suitable for:

Ip02

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