Robotic Beam Cart Pendulum Balancing System

Abstract

The purpose of this project is to apply different control methods on a real nonlinear system composed of a cart-carrying – pendulum running oever a swinging beam. The different control methods that will be used in the project can be extended an applied over a wide range of industrial fields especially in industrial robots, the output of this project is to position the cart at the desired location on the beam with minimum period of time, taking into consideration to minimize the oscillation of the pendulum , the challenge of this project is to control the cart and specially the pendulum without direct connection with the motor, the cart and the pendulum controlled only by changing the angle of the beam due to the controller command, an ultrasonic sensor will be used to measure the location of the cart, and another two rotational sensors will be used to measure the angle of the beam and pendulum. This project will be placed later on at the mechatronics lab to allow the students to execute experiments related to stabilizing nonlinear systems. In this project the mathematical model will be derived for the system, also all mechanical and electrical components will be totally described whit the required simulation for the outputs of the system.