We introduce you an unique educational model of triple inverse pendulum for demonstration of advanced autonomous methods of managing for systems of certain group. This model represents a sophisticated aid for lectures and research in cybernetics field.
We introduce an unique educational physic model of triple inverse pendulum for demonstration of advanced methods of autonomous managing used for systems of certain group. This model represents sophisticated aid for education and research in cybernetics.
For its difficulty in making models in maths and design of algorithms of managing as well as in a field of mechanic construction and instrumenation of real physic model realization, the ability to solve this task is called as a skills benchmark in autonomous managing by science community.
Inverse pendulums are a subject of intensive research in robotics and are extraordinary interesting from a theoretical point of view, too. They belong to unsteady, strongly nonlinear, lowly actuatored and phase systems and for their managing advanced algoritms of cybernetics are necessary.
For this purpose the advanced algorithms are used, they´re so-called modern theory of managing, especially from optimal management field that are a part of education in study programme Management and Information Systems.
By this representative physical model we can find a lot of partial interesting topics at the level from Bachalor´s thesis to Doctoral thesis. The model enables to a user a research and development of his own algoritms of managing. With a mathematical and physical model you can work at different levels, from a simulation in system Matlab&Simulink to a realization of managing algorithms in managing system REXYGEN running in a real time in an inbuilt device. A typical result of research works is then a swing of machinery´ arms from a bottom to upper position and stabilozation in straight position. A clasic task with the physical model of inverse pendulum is very extended. The most often we meet with one-armed pendulum, less extended there is a double-armed pendulum. The presented unique model of tripple inverse pendulum is different from other ordinary tasks by its difficulty and complexity of algorithms of managing. This unique model you can see in the picture. All joints are freely revolving without actuators. The straight position of all three arms is achived only by defined linear shift of cart from the left to the right.
Unique characters of model:
– modularity: mechanic switching of configurations among simple, double and tripple pendulum
– management by industrial computer REX AIC (Advanced Industrial Computer) desgined specially for this purpose, peculiarly for similar tasks that need a very low period of sampling
– runtime nukleus of managing systém REXYGEN runs in sampling frequences – 1 KHz
– a servo conventer is for managing of cart shif managed by EtherCAT
– wireless data transfer from revolving sensors of individual arms (period 700 microseconds)
– data from a wireless receiver are processed by FPGA