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Overview

The High Fidelity Linear Cart system is a precise and robust platform for the study of basic and advanced servomotor control concepts, adding additional challenges with an array of single, double, dual and triple inverted pendulums.

SKU: 623b367ad515 Categories: , Tag:

• High-power 3-phase brushless DC motor
• Rack-and-pinion mechanism for consistent and continuous traction
• Five different pendulums provided with the system: three single pendulums of different length, one double and one triple pendulum
• Optional Linear Flexible Joint module (can be purchased separately)
• High-resolution optical encoders to sense position and angles
• Easy-connect cable and connectors
• Fully compatible with MATLAB®/Simulink®

Rack dimensions (L x W x H) 1.1 m x 0.31 m x 0.18 m
Cart system mass 3.22 kg
Motor maximum mechanical speed 838 rad/s
Cart encoder linear position sensitivity 8.523 x 10-6 m/count
Cart encoder resolution (in quadrature) 8192 counts/rev
Pendulum encoder resolution (in quadrature) 4096 counts/rev
Rear pendulum mechanical range ± 30.9 deg
  • Derivation of dynamic model from first-principles
  • Derivation of dynamic model using Lagrange
  • Transfer function representation
  • State-space representation
  • Model validation
  • PID control
  • State-feedback / LQR control
  • Vibration control (for Linear Flexible Joint module)
  • Swing-up / balance control

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