Rotary type inverted pendulum with counterweight

Abstract

A rotary type inverted pendulum with a counterweight comprises the components of a vertical pole, the counterweight, a crossbeam and a swing rod. The bottom of the vertical pole is fixed to a vertical column base. The vertical column is vertically arranged on a horizontal experimental table through the vertical column base. The upper part of the vertical column is internally provided with a servo motor. The servo motor is connected with a central processing unit and a power supply. The crossbeam is arranged at the top of the vertical column. The servo motor can drive the crossbeam to rotate at the top of the vertical column. The swing rod is suspended at one end of the crossbeam. The end of the crossbeam is also provided with a simple pendulum encoder. The simple pendulum encoder is connected with the servo motor and the central processing unit. The simple pendulum encoder can recode a deviation angle between the swing rod and the vertical direction in the rotation process of the crossbeam. The counterweight is fixed to the crossbeam. The counterweight is used for keeping the balance of the crossbeam. According to the rotary type inverted pendulum with the counterweight, a relatively small external force interference is realized in an experiment process; the crossbeam is provided with the counterweight and the crossbeam can be adjusted to realize balance, thereby performing a function of protecting the servo motor.

Description

Technical field [0001] The invention relates to an inverted pendulum device, in particular to a rotary inverted pendulum device with a counterweight. Background technique [0002] An inverted pendulum is an unstable, artificially controlled device to make it in dynamic balance. It is a typical fast, multivariable, nonlinear, and unstable system. The research on the inverted pendulum can help us understand more problems in the control field, so it has high theoretical and practical value. In theory, it can help us have a deeper understanding of control theory and methods. In terms of application, it has great applications in robotics and even aerospace. Moreover, due to the simple design and low price of the inverted pendulum device, it has great application in experimental teaching. At present, the inverted pendulum of the platform-sliding model in use occupies a wide area, and the trolley is susceptible to external forces when running on the sliding rail, which has certain li...

AI Technical Summary

Problems solved by technology

At present, the inverted pendulum of the platform pulley type is used, which occupies a large area, and the trolley is easily affected by external forces when running on the slide rail, which has certain limitations.

For the existing rotating inverted pendulum, since there is no counterweight on the beam, the balance of the beam in the horizontal direction cannot be guaranteed during the experiment, and the motor is easily damaged

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