Specification / Price

System Configuration

Pendulum Mechanism

Sensors

Consists of potentiometers to detect the pendulum and arm angles.

Motor Gears

Are special types to prevent the incidental backlash.

Motor

Is a two phase stepping motor.

Motor Driver

Is a special driver for a two phase stepping motor.

Arm Turning Angle

Approx. 300 degrees

Dimensions

Main Body: 200W x 280H x 180D (mm), Arm Length: 460 (mm), Pendulum Length: 400 (mm)

Weight

5.5kg

Source Power

AC100V

PCI Card or PC card

Is a card to be inserted into the empty slot of P/C so that the analog interface can be connected to P/C.

Analog Interface

Is a processor which converts the sensor data sent from the pendulum mechanism into the "pendulum angle", "pendulum angular velocity" and "arm velocity" to supply as the inputs for Fuzzy inference as well as the Fuzzy inference result into the "motor rotary direction (clockwise / counterclockwise)" and "motor speed" signals to supply as the outputs for motor control.

Dimension: 300W x 50H x 200D (mm)

Source Power: AC 100 V

Windows P/C (Separate Purchase)

Fuzzy Software

Fuzzy Inference Specification

Number of Rules (Max)	128
Number of Inputs / Outputs (Max)	4-Inputs / 4-Outputs
MF Shapes for Antecedent Sector (MF= Membership Function)	Triangle, Trapezoid, Rectangle, Slash, Edge
MF for Consequent Sector	Singleton
Inference Logic	Linear Inference Logic
Deterministic Algorithm	Load-Center Method
Inference Device	Software
Resolution Power	10-bit each for Antecedent / Consequent

Videotape Contents

Step-1: About Fuzzy Control

• Minimax Load-Center Method
• Linear Fuzzy Inference Method

Step-2: Fuzzy Software Manual

• Initial-Setting window
• Result-Check window
• Control-Display window
• Fuzzy Rule Explanation

Step-3: Pendulum Control

3-1 Pendulum control to realize stabilization
3-2 Pendulum control to realize a constant cycle time

Step-4: Swing-up Inverted Pendulum Control

4-1 Concept to control Swing-up Inverted Pendulum
4-2 Stabilization of Swing-up Inverted Pendulum

• Arm motion toward pendulum tilting direction
• Arm motion to take pendulum over
• Arm motion to stabilize pendulum at TDP
• Tuning

(Reference) Further lessons for better tuning

Installation Example

Enlarge (JPG Image: 263KB)

Price

• Pendulum Mechanism
• PCI Card ( or PC Card )
• Analog Interface
• Fuzzy Software
• Videotape
• Textbook

P/C Requirements

CPU

Pentium 166 MHz or higher

(Caution) Fuzzy control does not work normally with CPU of less than 166 MHz.

OS

Windows 95, 98, Me, NT(4.0), 2000, XP

Recommended OS: Windows NT(4.0), 2000, XP

(Caution) Fuzzy control works normally under Windows 9x. However, the selection range of the control cycle time is limited.

Memory

32 MB or higher

FDD

3.5" FDD

Monitor

800 x 600 High Color (16bit) or higher

Mouse

PCI Bus or PC card slot

Empty Slot: 1 or more

RealPlayer Sample Movie

• Control for Inverted Pendulum (21 sec)
• Control for Swing-up Inverted Pendulum (24 sec)

 (C) 2004 ADWIN Corp.