Development of an Educational and Research Stand «BALUS-3»

The process of developing an educational and research stand is discussed in this article. The pendulum system “trolley on a rod” is presented and the problem statement is formulated. The requirements for the development of a stand are listed, including simplicity and reliability. A list of key electronic components has been compiled. The Blue Pill debug board acts as the main control device. The position of the trolley is tracked by the distance sensor HC-SR04. A schematic diagram of the control board of the stand has been compiled. The choice of materials and movable elements for the manufacture of the stand has been carried out. A3D model of the stand has been built. A physical prototype of the stand has been made. Photos of the assembled stand are provided.An algorithm for stabilizing an unstable object using a PID controller is proposed, as well as its practical implementation using a 2nd order differentiating filter. Demonstration graphs of the transient process of the stand at different coefficients of the regulator are obtained.