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RT 122: Fuzzy Control: Inverted Pendulum

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Fuzzy Control: Inverted Pendulum

Fuzzy Control: Inverted Pendulum Fuzzy Control: Inverted Pendulum Fuzzy Control: Inverted Pendulum

Product Details

Technical Description 
RT 122 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 serves as an add-on to the RT 121 model, and is more complex because of its two independent drives.
Fuzzy methods are particularly suitable for systems which mathematics cannot describe adequately or easily. They include multi-variable systems, non-linear systems and time-variant systems. 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. Additional input variables or conditions can be easily added.
The control model employed is an unstable inverted pendulum system, in which the upright position is dictated by two independent propeller drives. As well as the mechanical inverted pendulum system with servomotors and sensors, the model also includes a microcontroller board on which the control program runs in real time.

Control algorithms are created, simulated and translated into microcontroller code in the user-friendly 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 non-linear inverted
  pendulum system
- Creating fuzzy strategies
- Implementing fuzzy algorithms on destination
  microcontroller systems
- Adapting the algorithms to non-linear control
- Investigation of real-time capability
- Parameter studies

* Non-linear model with two actuators1
* 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] Inverse pendulum system
[3] Microcontroller board with interfaces
[4] 2 independent high-power motors for propeller drive
[5] Measurement of the pendulum position by potentiometer
[6] Serial PC port
[7] FSH-Shell developer program
[8] Didactically graduated teaching concept
[9] 110...240V, 50/60Hz, 1 phase

Technical Data
Drive motors: 6V / 6A
Pendulum length: 700mm
Zilog Z8Encore 8-bit microcontroller
12x ADC 8-bit
FSH-Shell program runs under Windows 2000/XP

Dimensions and Weight
l x w x h : 1000 x 400 x 1200 mm
Weight : approx. 30 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
080.12200  RT 122  Fuzzy Control:
                     Inverted Pendulum

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

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