Features

• Non-linear, one-dimensional single-variable system with two actuators  
• Inverted pendulum with one input and two outputs  
• Fast, real-time control using microcontroller  
• Implementing fuzzy algorithms  
• Microcontroller-based development process for process control systems

The unstable “inverted pendulum” system acts as a mechanical single-variable system. The upright  position of the pendulum is adjusted by two independent propeller drives and should be achieved  quickly and if possible without overshooting. A fuzzy control will be developed and optimized for this  purpose.
  
The inclination of the pendulum is measured by a potentiometer. The sensor supplies a crisp signal to  the fuzzy controller, where the signal is transformed into a fuzzy input value and inferenced before  being transformed back into a crisp output value. This output value controls the actuators, two  propeller drives.  

The learning contents of the experimental unit are extended by ‘Controller Unit’ that is more complex because of its two independent drives. Conducting the experiment makes high demands on the  system optimization, as the two independent drives have to be tuned.  

The control algorithms are initially written and simulated in the user-friendly development software  FSH-Shell and then compiled to generate microcontroller code. The control strategy can be optimized  at a later date.  

Control algorithms are created, simulated and translated into microcontroller code in the user-friendly  developer program.

Specifications
Non geared rotary platform/plant that constructed with servo motor as the main driver, and an  encoder and link arm attached to the pendulum.  
Platform size 150 mm x 150 mm x 180 mm (L x W x H).  
Minimum speed of the drive motor is 5777 rpm.  
Minimum encoder resolution is 487 pulse/rev.  
Inverted pendulum as mechanical single-variable system, Single Input – Multiple Outputs  
2 Independent motors for propeller drive as actuators  
DSP target controller consists of motor driver, ADC, serial communication interfaces, serial  peripheral interfaces, digital I/O and PWM channels. It links the data from hardware to the  programming software as well as creating the relevant library and codes for the software.  
System compatible and works on Labview software.  
Rotary potentiometer as pendulum inclination sensor  

Technical Specifications
Inverted pendulum  
Length: 160mm  
Counterweight: 0.60 kg  
2 drive motors  
3,2V / 8A  
Microcontroller  
8bit microcontroller 
12-fold ADC 8bit  
Rotary potentiometer resistance value 5kΩ ±20% 

Experiment Possibilities

1. Design of a fuzzy control for the unstable single-variable system: inverted pendulum  
2. Working with the development software  
3. Activating of two independent actuators that are coupled via the system  
4. Mastering of non-linearities in the system: inverted pendulum  
5. Mastering of non-linearities in the propeller drive  
6. Optimization of  

 - Fuzzification  
 - Rule base  
 - Defuzzification with respect to stability  
 - Velocity  
 - Control quality