{"id":286,"date":"2022-03-31T10:13:45","date_gmt":"2022-03-31T08:13:45","guid":{"rendered":"https:\/\/au.feri.um.si\/lpa\/?p=286"},"modified":"2026-10-30T13:42:35","modified_gmt":"2026-10-30T12:42:35","slug":"rotacijsko-inverzno-nihalo","status":"publish","type":"post","link":"https:\/\/au.feri.um.si\/lpa\/en\/rotacijsko-inverzno-nihalo\/","title":{"rendered":"Rotary inverted pendulum"},"content":{"rendered":"
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\u2190 Teaching<\/a><\/p>\n\n\n\n

02.14 \u00b7 Student project<\/p>\n\n\n\n

Rotary inverted pendulum<\/h1>\n\n\n\n

Students built a mechanical structure with a servo motor and successfully stabilised the pendulum in the upright position.<\/p>\n<\/div>\n<\/section>\n\n\n\n

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About the project<\/h2>\n\n\n\n

The aim was to build a mechanical structure and stabilise the pendulum in the upright position. A servo motor fitted in the structure moves the arm and with it the pendulum. The system is controlled by a programmable logic controller (PLC) and the motor by a servo drive; communication uses the CC-Link industrial Ethernet standard.<\/p>\n\n\n\n

The arm angle is sensed by an incremental encoder coupled to the motor, and the pendulum angle by an additional incremental encoder. An HMI screen is used for operation and data display.<\/p>\n\n\n\n

How it works<\/h2>\n\n\n\n
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  1. Model<\/strong>: taking the system's characteristics into account, we built a mathematical model.<\/li>\n\n\n\n
  2. Controller<\/strong>: we designed a cascade PID controller to control the system.<\/li>\n\n\n\n
  3. Implementation<\/strong>: we implemented the control on the PLC and tuned the coefficients so that the pendulum stands upright.<\/li>\n<\/ol>\n<\/div>\n\n\n\n
    \n
    Type<\/td>Student project<\/td><\/tr>
    Controller<\/td>Mitsubishi FX5UC-32MT\/DSS-TS PLC<\/td><\/tr>
    Drive<\/td>Mitsubishi HG-KN13J servo motor, MR-JE-10C servo drive<\/td><\/tr>
    Sensors<\/td>Two incremental encoders (arm angle, pendulum angle)<\/td><\/tr>
    Communication<\/td>CC-Link<\/td><\/tr>
    HMI<\/td>Mitsubishi GT2107-WTSD<\/td><\/tr>
    Controller<\/td>Cascade PID<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
    \"Rotacijsko\n\t\t\t\n\t\t\t\t\n\t\t\t<\/svg>\n\t\t<\/button><\/figure>\n<\/div>\n<\/div>\n\n\n\n
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    Presentation<\/h2>\n\n\n\n
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    \"Prosojnica:\n\t\t\t\n\t\t\t\t\n\t\t\t<\/svg>\n\t\t<\/button><\/figure>\n\n\n\n
    \"Prosojnica:\n\t\t\t\n\t\t\t\t\n\t\t\t<\/svg>\n\t\t<\/button><\/figure>\n<\/div>\n<\/div>\n\n\n\n
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    \u2190 Previous<\/span>Positioning and synchronisation system<\/a><\/p>\n\n\n\n

    Next \u2192<\/span>Ball and beam<\/a><\/p>\n<\/div>\n<\/div>\n<\/section>","protected":false},"excerpt":{"rendered":"

    \u2190 Pedago\u0161ko delo 02.14 \u00b7 \u0160tudentski projekt Rotacijsko inverzno nihalo \u0160tudenti so izdelali mehansko konstrukcijo s servomotorjem in nihalo uspe\u0161no stabilizirali v navpi\u010dni legi. O projektu Cilj je bila izdelava mehanske konstrukcije in stabilizacija nihala v navpi\u010dni legi. V konstrukcijo smo vpeli servomotor, ki premika ro\u010dico in s tem nihalo. Sistem vodi programirljivi logi\u010dni krmilnik […]<\/p>\n","protected":false},"author":0,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"page-brez-naslova","format":"standard","meta":{"footnotes":""},"categories":[5],"tags":[],"class_list":["post-286","post","type-post","status-publish","format-standard","hentry","category-studentski-projekti"],"_links":{"self":[{"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/posts\/286","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/types\/post"}],"replies":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/comments?post=286"}],"version-history":[{"count":3,"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/posts\/286\/revisions"}],"predecessor-version":[{"id":438,"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/posts\/286\/revisions\/438"}],"wp:attachment":[{"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/media?parent=286"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/categories?post=286"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/tags?post=286"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}