PID Control and Regulation of an Inverted Pendulum Unit Deluxe

The PID Control and Regulation of an Inverted Pendulum Unit, de­signed enables the practical study of automatic control systems through the control of the linear position of a moving cart and the stabilization of a pendulum in the upright position.

ATENG 12634 — PID Control and Regulation of an Inverted Pendulum Unit

(for main items)

• With this unit there are several options and possibilities:
• Main items: 1, 2, 3, 4 and 5.
• Optional items: 6, 7 y 8.
• Let us describe first the main items (1 to 5):
• 1 ATENG 12628. Unit:
• Unit:
  Metallic box.
  Diagram in the front panel with distribution of the
  elements similar to the real one.
• Reference signals unit:
  This unit allows to generate four different types
• of signals: step, square, ramp and sine. The
  frequency and amplitude of the signals can be
  adjusted through the computer.
  Step output. Square output. Ramp output.
  Sine output.
• Step: amplitude: 0 V to 5 V, frequency: 0Hz
  to 200 Hz.
• Square: amplitude: ±10 V, frequency: 0Hz to
  200 Hz.
• Ramp: amplitude: ±10 V, frequency: 0Hz to
• Unit: ATENG 12628
  200 Hz.
• Sine: amplitude: ±10 V, frequency: 0Hz to 200 Hz.
• Frequency sweep: this unit performs a frequency sweep needed for calculating the Bode plot.
• PID controller unit:
  This unit is subdivided into proportional, integrative and derivative blocks. The unit allows to adjust
• each parameter independently from the computer:
• P controller: Kc: -10 to +10. I controller: Ti: 0 to 100 s. D controller: Td: 0 to 100 s.
• Sample time: 0.1 to 100 ms.
• Lead/Lag compensator:
  This unit represents a compensator system in the Laplace domain. The system allows to modify the
• zero, the pole and the gain of the compensator through the computer:
• K lead: 1 to 100 s. K lag: 1 to 100 s. Gain: 1 to 10. Sample time: 0.1 to 100 ms.
• Integrator system:
  This unit represents a integrator system in the Laplace domain. The system allows to modify the
• gain and the saturation value of the system through the computer:
• Gain: -10 to 10.
• Saturation: -10 to 10.
• First order system:
  This unit represents a first order system in the Laplace domain. The system allows to modify the time
• constant of the system through the computer. The gain can be also adjusted using the computer:
• Gain: 0 to 10. Time constant T: 0 to 100 s.
• Second order system:
  This unit represents a second order system in Laplace domain. The system allows to modify through
• the computer the three parameters of the system: gain, damping coefficient and the natural
• frequency:
• Gain: 1 to 10.
• Damping coefficient x: 0 to 1.5 in steps of 0.1.
• Natural frequency (w n): 1Hz to 2 p*100 rad/s (100 Hz).
• Perturbation unit:
  This unit allows to insert disturbances in the systems. The perturbation can be inserted in different
• places of the control loop:
• Perturbation value: -10 to 10.
  4

Complete Technical Specifications (for main items)

• Offset unit:
  This unit allows to add an offset to the input signal.
• Offset value: -10 to 10.
• Analog Inputs:
  This unit is provided with 4 analog inputs. The inputs are used to visualize different signals in the
  computer.
  Connector to computer.
  Control Interface included.
• The complete unit includes as well:
  Advanced Real-Time SCADA and PID Control.
  Open Control + Multicontrol + Real-Time Control.
  Specialized Control Software based on LabVIEW.
  National Instruments Data Acquisition board (250 KS/s, kilo samples per second).
  Projector and/or electronic whiteboard compatibility allows the unit to be explained and
  demonstrated to an entire class at one time.
  Capable of doing applied research, real industrial simulation, training courses, etc.
  Remote operation and control by the user and remote control for technical support,
  are always included.
  Totally safe, utilizing 4 safety systems (Mechanical, Electrical, Electronic & Software).
  Designed and manufactured under several quality standards.
  Optional ICAI software to create, edit and carry out practical exercises, tests, exams,
  calculations, etc. Apart from monitoring user’s knowledge and progress reached.
  This unit has been designed for future expansion and integration. A common expansion is
  the Scada-Net (ESN) System which enables multiple students to simultaneously
  operate many units in a network.
  Wide range of units for working with ATENG 12628.