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The process which is subject to be controlled in this project is a laboration device from Mechatronic Systems,
Inc. The equipment consists of a pendulum which can freely swing around an axis at one end of the pendulum arm.
On this arm a DC-motor is attached. On this motor a symmetric inertia wheel is located. With the inertia
wheel it is possible to apply a torque on the pivot.
On the DC-motor and at the pivot there are sensors that can measure the angle of the pendulum arm.
The DC-motor and the sensors are connected to a digital IO card called daughter board on the DSP. To the
Daughter board there is also a LCD connected for displaying messages. The DSP will be used to implement
the control algorithm, to get a stand alone system that can be carried around and demonstrated anywhere.
Below are the used components listed:
TMS320C6711 DSK board
PWM/Optical Encoder data Acquisition board
PWM amplifier board
25V DC motor
2 Optical Shaft Encoders 4000 counts/rev
A Matrix Digital LK202-25 LCD screen
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