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Circular Inverted Pendulum
 
  Description
  GRIP1
  GRIP2
  GCIP Experimental Manual
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Overview
  The circular inverted pendulum series of products adopts an open architecture control solution and a modularized experiment platform. With the circular motion module as the base platform, it is easy to build circular one-stage inverted pendulum, circular two-stage serial inverted pendulum, circular two-stage parallel inverted pendulum, and even the combined serial-parallel inverted pendulums of three- and four-stages, satisfying the various needs for control teaching and research.Googols PC plug-in motion controller is used as control module, MATLAB or C Language can be used and thus facilitate users to carry out experiments and research works.
Main Feature
  System Specification
  • Circular track with no travel limit for the inverted pendulum, suitable for swing up algorithm design.
  • Slip ring to feed signal to the controller.
  • Floor-standing structure, no workbench is required.
  • Industrial incremental encoder l feedback and AC servo motor.
Open Architecture
  • Open platform based on PC and DSP-based motion controller.
  • Open experiment verification and demonstration program of DOS version, with source codes provided, especially suitable for research of control algorithm.
  • Googol Simulink software experiment platform provided for experiments such as system modeling, simulation and real time control.
User Creativity
  • Configure unique experiment platform
  • Develop and verify ones own control algorithm.
  • Tackle the challenging control problems of controlling t the balance of parallel inverted pendulum and starting of serial inverted pendulum.
Modularized Platform
  • Circular motion module
  • Circular one-stage inverted pendulum
  • Circular two-stage serial inverted pendulum
  • Circular two-stage parallel inverted pendulum
  • Combined serial and parallel inverted pendulum of three- and four-stages
   
    MATLAB Control Interface
Technical Specifications
 

AC servo motor power

200W

Motor encoder

2500P/R

Pendulum rod encoder

600P/R

Deceleration ratio

15:1

Rotation Radius (mm)

270 ~ 450

Rotation Angle

360

Power supplier

AC220V; 3A

Weight (kg)

GRIP Main Body: 35

Control Box: 11

Dimension (L x W x H) (mm)

GRIP2001:  7007001425

GRIP2002:  7007001600

Rod Length (mm)

GRIP2001: 500

GRIP2002:  Rod 1: 175;  Rod 2: 500

Rod weight (kg)

GRIP2001: 0.13

GRIP2002:  Rod 1: 0.06  Rod 2: 0.13

 

Ordering Guide
 

Model Number

 Model Name

Description

GRIP2001

Circular One-Stage Inverted Pendulum

Ø       Circular One-stage inverted pendulum module

Ø       GRIP2001 Electric control box

Ø       GT-400-SV motion controller

Ø       GRIP2001 experiment software pack (DOS version with source code)

Ø       Googol Simulink software experiment platform

GRIP2002

Circular Two-Stage

Serial Inverted Pendulum

Ø       Circular Two -stage inverted pendulum module

Ø       GRIP2002 Electric control box

Ø       GT-400-SV motion controller

Ø       GRIP2001 & GRIP2002 experiment software pack (DOS version with source code).

Ø       Googol Simulink software experiment platform

GRIP2011

Circular Two-Stage Parallel Inverted Pendulum

Ø       Circular Two-Stage Parallel Inverted Pendulum module

Ø       GRIP2011 Electric control box

Ø       GT-400-SV motion controller

Ø       GRIP2001 & GRIP2011 experiment software pack (DOS version with source code).

Ø       Googol Simulink software experiment platform

 

 
 

 

 
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