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RT 124: Fuzzy Control: Carrier Vehicle with Inverted Pendulum

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Fuzzy Control: Carrier Vehicle with Inverted Pendulum

Fuzzy Control: Carrier Vehicle with Inverted Pendulum Fuzzy Control: Carrier Vehicle with Inverted Pendulum Fuzzy Control: Carrier Vehicle with Inverted Pendulum

Product Details

Technical Description 
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
  microcontroller systems
- Adapting the algorithms to non-linear control
- Investigation of real-time capability
- Comparison of the real-time behaviour of different
  control algorithms
- 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
  control systems


[1] Training system providing an introduction to fuzzy methods and microcontroller technology
[2] Inverted pendulum on a carrier vehicle
[3] Microcontroller board with interfaces
[4] Carrier vehicle with electric drive
[5] Serial PC port
[6] FSH-Shell developer program
[7] Didactically graduated teaching concept
[8] 110...240V, 50/60Hz, 1 phase

Technical Data
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

Order Details
080.12400  RT 124  Fuzzy Control: Carrier Vehicle
                     with Inverted Pendulum

Alternative products
RT 121 -- Fuzzy Control: Ball-on-Beam
RT 122 -- Fuzzy Control: Inverted Pendulum
RT 123 -- Fuzzy Control: Ball-on-Plate
RT 121 - RT 124 Fuzzy-Control Learning Models

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