This model forms part of a series of training systems developed in collaboration with the Department of Automation and Information Technology at the Harz University of Applied Studies and Research.
This model provides an introduction to fast, digital real-time control by fuzzy methods. Fuzzy methods are particularly suitable for systems which mathematics cannot describe adequately or easily. Fuzzy algorithms can offer major advantages as the control strategy is developed, not on the basis of exact mathematical modelling, but on a linguistic description of the process.
The control model employed is the unstable inverted pendulum. The pendulum is mounted on a carrier vehicle. Starting from the initial, unstable vertical position of the pendulum, an attempt is made to maintain its balance in the upright position by moving the vehicle back and forth. The position of the vehicle is recorded from the rotation of the wheels. The control process is made more difficult by the fact that the vehicle can only move within a narrow range of travel, about the starting position.
The vehicle carries the drive motor, the sensors to measure the positions of both the vehicle and the pendulum, as well as the microcontroller board.
Control algorithms are created, simulated and translated into microcontroller code in the comprehensive developer program.
The well-structured instructional material outlines the technology used and provides a step-by-step guide through the development processes.
Learning Objectives / Experiments
- Introduction to fuzzy methods and microcontroller
- Mathematical modelling of the inverted pendulum
on a carrier vehicle system
- Creating fuzzy strategies
- Implementing fuzzy algorithms on destination
- Adapting the algorithms to non-linear control
- Investigation of real-time capability
- Comparison of the real-time behaviour of different
- Parameter studies
* Complex mechanical model with two degrees of
* Mechatronic system with interlinking of mechanics,
electronics and data processing1
* Fast real-time control with microcontroller1
* Fuzzy algorithms1
* Microcontroller-based design process for process
 Training system providing an introduction to fuzzy methods and microcontroller technology
 Inverted pendulum on a carrier vehicle
 Microcontroller board with interfaces
 Carrier vehicle with electric drive
 Serial PC port
 FSH-Shell developer program
 Didactically graduated teaching concept
 110...240V, 50/60Hz, 1 phase
Zilog Z8Encore 8-bit microcontroller
12x ADC 8-bit
FSH-Shell program runs under Windows 2000/XP
Vehicle position detection: relative to start position via rotation of wheels
Permitted travel of vehicle relative to start position: adjustable
Dimensions and Weight
l x w x h : 300 x 400 x 1000mm
Weight : approx. 10 kg
110...240V, 50/60Hz, 1 phase
Scope of Delivery
1 demonstration model with interface
1 developer program
1 set of instructional material
080.12400 RT 124 Fuzzy Control: Carrier Vehicle
with Inverted Pendulum