Research → Mechatronic systems → Inverted pendulum driven by pneumatics → Experimental system descriptionThe actuator is a rodless cylinder by SMC, type CDY1S15H-500 with stroke l=500 mm and diameter d=15 mm. The linear motion of the slider (the piston of the cylinder) is controlled by the proportional directional 5/3 valve, FESTO type MPYE-5 1/8 HF-010B. The linear position of the slider is measured by the linear potentiometer FESTO MLO-POT-500-TLF, and the angle of the pendulum is measured by rotational servopotentiometer by Spectrol. The electronic reference voltage cards (with ref-chips) for potentiometers reduced the measured signals in the needed domain. Pressure transducers are SMC ISE4-01-26. The controller is implemented on the PC computer via PCL-812PG acquisition card with 12-bit A/D and D/A converter. The working pressure is set up to 6 bar. The mass of the pendulum is 0.06 kg, and its length is 400 mm (the gravity centre length is 180 mm), but it is telescopic (car radio antenna) and it can be easily extended or shortened, clearly showing influence of the parameter changes on behaviour of the system. The slider mass is 1.5 kg. The equipment consists of some more components, like a pair of proportional pressure valves SMC VY1A00-M5 and a pair of simple on-off 3/2 valves SMC EVT307-5D0-01F (in photo marked by numbers 12 and 13, respectively). Their application (combining some other control methods, like for example pulse width modulation control method) can be also considered as a cheaper alternative of the proportional directional valve employment. |