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Home / Product / Related Products / Pendulum Designer |
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| Pendulum Designer is the system that you can design various controllers for the inverted pendulum with the swing-up mechanism. Pendulum-Designer lets you quickly implement a broad range of control designs, using the Computer-Aided Control System Design Software (CEMTool) and the high-speed DSP control/data acquisition board. Various experiments are provided with Pendulum-Designer that bridge the gap between the control theory and real-world applications. |
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 Constitution of Pendulum-Designer |
| 1. CACSD Software (CEMTool) |
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Features of CEMTool |
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- Compatible MATLABTM grammar and functions
- High-performance computation and reliability
- Convenient user interface
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Constitution of CEMTool 6.0 |
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- CEMTool : Command-based software for analysis and designs
- SIMTool : Block-diagram-based software for analysis and designs
- AUTOTool : Automatic C-code Generator
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| 2. High-Speed Board (RG-DSPIO) |
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Features of RG-DSPIO |
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- Applications in rapid control prototyping with high speed DSP processor
- Various I/O modules (AD, DA, DI, DO, Encoder,PWM)
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Constitution of RG-DSPIO |
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- DSP Main Processor : TMS320C32
- Analogue : In(8ch), out(4ch), 16bit
- Digital : In(8ch), out(8ch)
- Motion control : Encoder(4ch),
- PWM (2ch)
- Interface : PCI bus
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| 3. Inverted Pendulum System (RG-IP40S) |
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Features of RG-IP40S |
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- High-Precision mechanism through ball screw moving
- Swing-up mechanism
- Variety of Plant Application (motor position control, crane system,
and etc)
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Constitution of RG-IP40S |
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- Size : 1400(L) x 200(W) x 200(H) (mm)
- Moving range of cart : 750 mm
- Motor output : 60W, 3800rpm
- Angle sensor : Encoder (1000p/r)
- Position sensor : Encoder (1000p/r)
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| Features of Pendulum-Designer |
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The flexible experiment system that lets you validate your controller designs on the swing-up inverted pendulum system directly using the CACSD software without any programming |
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Easily installable turn-key systems constituted with the CACSD software, the high-speed board, and the swing-up inverted pendulum system |
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Various control theory application and verification through the provided mathematical model |
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Various applications for control paper works as well as basic the control experiments
Quick installation through our plug-in hardware connections and the user-friendly interface software |
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| How to use Pendulum-Designer |
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1. Analyze the swing-up inverted pendulum system, and then design the controller using the CACSD softwarePID, Optimal, Robust, Fuzzy etc) |
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| 2. Configure the experiment blocks that the designed controller can be applied, using the CACSD software. Download the C-code that is automatically generated to the high-speed hardware (RG-DSPIO). |
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| 3. Execute the designed controller in the high-speed board (RG-DSPIO) to operate the inverted pendulum. And compare theory with real-world applications. |
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| Experiment topics of Pendulum-Designer |
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Basic Courses
(Topic 1) Basic control theory and CEMTool practice
(Topic 2) Basic control theory and SIMTool practice
(Topic 3) I/O practice through high-speed hardware (RG-DSPIO)
Application Courses
(Topic 4) Inverted pendulum configuration and mathematical model
(Topic 5) Transient response analysis (Step, Impulse, Ramp response)
(Topic 6) Root locus analysis
(Topic 7) Design and analysis for Lead compensators
(Topic 8) Design and analysis for Lag compensator
(Topic 9) Analysis for Frequency response
(Topic 10) Design for PID controllers
Advanced Courses
(Topic 11) Mathematical modeling for inverted pendulum system
(Topic 12) PID controller design for inverted pendulum system
(Topic 13) Pole-placement controller design for inverted pendulum system
(Topic 14) LQ controller design for inverted pendulum system
(Topic 15) Swing-up control for inverted pendulum system
(Appendix) Usage for crane system |
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| Coverage for Pendulum-Designer |
| 1. System modeling through System Identification |
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| 2. Controller design for inverted pendulum system using root locus |
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| 3. LQ controller design for inverted pendulum system |
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| 4. Swing-up controller design for inverted pendulum system using energy control |
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