The laboratory experimental setup "Tandem Pendulum" contains the technical realization of an unstable, complex plant together with an actuator and a digital controller. The digital controller realizes an observer based state feedback or a fuzzy controller. The laboratory setup is based on the plant "Position Control PS600A".
The basic system includes an actuator as well as the mechanical setup (PS600) with a premounted tandem pendulum extansion kit (Option 600-40). The documentation contains the instructions for start-up as well as the technical data of the system. The plant is represented by two revolving pendulums with different lengths mounted on top of a moving base. One pendulum (length 50 cm) is mounted on a sleeve shaft. An inner shaft is fixed to the second pendulum (length 10 cm). Both pendulums are pivoted inde- pendently from each other. By a DC-motor, a toothwheel, a toothbelt and a clutch, the moving base can be driven along a guiding bar over a length of approximately 1.5m such that both pendulums are stabilized in upright positions at a preassigned position. The stabilization of the pendulums is accomplished by a digital controller. Based on measurements, the controller generates a suitable signal which controls the DC-motor by an electronic drive. The measurements are the pendulum angles and the cart position obtained by incremental encoders.
The standard digital control of the basic system consists of a PC adapter card Option 600-03 and an executable controller pro- gram (MS-DOS) Option 600-42. The adapter card as well as the program require an IBM-AT-compatible PC with a numeric coprocessor. The controller program is driven by pulldown menus. The control algorithm realizes a state feedback with estimation of the
angular velocities of the pendulums and the speed of the cart as well as a disturbance observer to compensate the effects of the friction. The friction compensation force acts on the bearing of the cart. All of the controller and observer parameters are comfortable adjustable. The controller performance is examined by recording the measurements and observed signals of the system. The graphic output of the recorded data may be directed to the screen, to a file, to an HP-compatible plotter with a serial interface or to an Epson-compatible matrix printer. The documentation is extended by the program operation and the theoretical background with the mathematical model of the plant.
Additional options extend the version of the laboratory setup described above to support research studies in the field of arbitrary control algorithms or applied fault detection methods. For this purpose an additional fuzzy controller and the 'C++' source files of the programs are available.
The Option 600-43 extends the executable program (Option 600-42) by a fuzzy controller including modules to define fuzzy rules and membership functions, to store and load a corresponding description file and to display a graphic representation of the fuzzy knowledge base. The fuzzy controller uses the fuzzy knowledge base to realize a cascaded control structure. The documentation is extended by the background of a fuzzy controller and the operating instructions. Switching between the controller modes allows for control performance comparison of state controller and the fuzzy controller.
The Option 600-45 contains the 'C++' source files of the PC controller program including library functions for fuzzy operations and graphic output. With this option the user is able to implement special algorithms for control, supervision or fault detection in the frame of the menu-driven program. The Borland C++ compiler version 3.1 with the Turbo-Vision library is required to generate an executable program.
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