Flying Inverted Pendulum

Рет қаралды 45,928

Күн бұрын

Balancing a rod on your finger can be tricky, but we’re going to do it with a drone instead. With just a little extra hardware and custom flight control code, I modified my racing drone to be able to balance an inverted pendulum while I fly it around.
Patreon: / nicholasrehm
My Website: www.drehmflight.com/
Mars Rover Sky Crane Pendulum video: • Mars Rover Sky Crane: ...
dRehmFlight VTOL flight controller used for this project: www.drehmflight.com/drehmflig...
Balancing an inverted pendulum has been a classic control theory problem for ages, usually demonstrated with a pendulum mounted on a moving cart that’s constrained to move in only one-dimension. Some research labs have demonstrated the inverted pendulum on a drone before, but it required expensive motion capture cameras in a controlled testing environment. My approach was to use simple sensing onboard the drone and some basic modifications to the flight controller code to be able to fly the drone around like any other drone in angle/horizon mode, but with a giant stick balanced on top. If you learned something or at least enjoyed watching, I’d greatly appreciate a like on this video and maybe even a subscription to my channel for more projects like this in the future.
00:00 Intro
00:44 How it Works & Build
03:12 First Attempts and Fixes
04:19 It Works! First Flights
05:27 Balancing Competition
06:00 POWERLOOP
07:34 Conclusions
#Drone #InvertedPendulum #Controller

Пікірлер: 91

@askolmayanveysel2221 2 жыл бұрын

6:55 that sound is so cute, it melts my heart.

@deice3 Жыл бұрын

5:40 I like how the drone immediately went for peter. Terminator pendulum mode engaged!

@NicholasRehm Жыл бұрын

Might’ve been intentional ;)

@gkelly 2 жыл бұрын

Your results are incredible! I was fully expecting something a lot less stable.

@NicholasRehm 2 жыл бұрын

I was surprised too haha

@kathleenrobertpogue6818 2 жыл бұрын

Its just as stable on top as it is on bottom. Its called the rocket fallacy when you think other wise.

@manofsan 2 жыл бұрын

@@NicholasRehm - I'd love to see you do something with plasma actuators and ducted fans. There are plenty of RC "jet" models out there that use ducted fans in place of turbines. But I'd always heard that ducts create increased drag problems. Meanwhile, I'd also read that plasma actuators which ionize the air can improve the flow characteristics and reduce drag. I'd like to know if it's possible to put the plasma actuators around the duct inlets to reduce the drag and improve the performance of the aircraft.

@WeiminShen99 11 ай бұрын

Great job! I really admire your working/research style and skill. Thank you for sharing this project with us!

@DELIMAN195 Жыл бұрын

Well edited and what a great video keep it up Nick

@rfdibiase 2 жыл бұрын

Wow, how could anyone not like this video!?! So interesting, and I'm jealous of your engineering skills. Next up, a dual pendulum drone...?(lol) Seriously, great work, thanks!

@NicholasRehm 2 жыл бұрын

Really appreciate your compliments. Dual pendulum would be a heck of a challenge!

@MrSeth166 2 жыл бұрын

@@NicholasRehm did you fix the problem? I know where the problem is... Great video 👍👍👍

@JimBoshart 2 жыл бұрын

Being a drone pilot myself (camera) I'm not talented enough for fpv, but you Sir take it to the NEXT LEVEL....well done.

@mrdouble 2 жыл бұрын

That was great. Thanks for putting it up

@gannet-dronefishing2295 2 жыл бұрын

Now that is spectacular engineering 👏👏 I do fishing drones, for years we have known an encouraged people to use longer pendulums, (suspending the loads further down) basically just to slow the pendulum down enough for the standard off-the-shelf GPS position guided drone to cope better with the swinging mass. The two masses in motion can cause some serious problems especially when the suspended mass is on a short/fast pendulum and it’s mass big in relation to the quad’s own mass. Seriously well done on your projects 👏👏

@NicholasRehm 2 жыл бұрын

Thanks for the comment! Drone fishing sounds like a fun retirement plan down the road...

@gannet-dronefishing2295 2 жыл бұрын

@@NicholasRehm give it a try, it has been gaining mass popularity since inception in 2013/4, I currently have around 30k guys around the globe fishing with Gannets. Applications will keep growing, smart guys like you have endless opportunities to contribute to the advancement in this new world in flight. Drones are now where mobile phones were around the 2000’s, look what we can now do with a cellphone, then think what drones will be able to do in 2040?

@tijssens 2 жыл бұрын

This channel will go places!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Nice work!

@andymuzzo8568 2 жыл бұрын

Great video. Awesome topic 👌🏼

@darkpowercodm2311 2 жыл бұрын

I never saw theese type of experiment...so good... interesting to watch ✨

@thom7440 2 жыл бұрын

Very cool. Thanks!

@KIM-yb1ns Жыл бұрын

This is a challenge I would like to try. I've seen examples of using a vision system to control it, but this allows for much more freedom of movement. I enjoyed the video and I have a desire to try it someday.

@chopper3lw 2 жыл бұрын

Brilliant!

@linkh200 2 жыл бұрын

I decide to take a quick break from my control systems lab assignment and end up watching a video on an amazing control system. I can't get away from this stuff man.

@NicholasRehm 2 жыл бұрын

Keep those poles in the left hand plane my dude

@alhajee 2 жыл бұрын

This is ingenious

@alhajee 2 жыл бұрын

I loved how you used the joystick to get the angle of the stick 👏

@rahuls7039 Жыл бұрын

This is fabulous.

@Alusnovalotus 2 жыл бұрын

No idea what you’re saying but it’s awesome to see!

@bowmanzz1 2 жыл бұрын

Amazing. Reminds me of Grad School doing controls engineering on Matlab

@angrypepper3325 2 жыл бұрын

WOW, fantastic video, and you’ve got a fantastic brain to match👍

@NicholasRehm 2 жыл бұрын

Really appreciate your compliments. Cheers

@szechuansnow5244 Жыл бұрын

Gosh the little *zip* the props make off the grass sound like a tiny adorable ouch from the drone

@eqilibrius 2 жыл бұрын

You have to put a 360 cam on top of the Stick.😉👍

@abdontroche 2 жыл бұрын

Amazing!

@seeker1015 2 жыл бұрын

Well good. It'd make a great camera mount..

@MorningView 2 жыл бұрын

Awesome

@onjofilms 2 жыл бұрын

Pretty cool.

@akshaydevanpally3764 2 жыл бұрын

The control system built are amazing, great flight, I am student learning control systems this was cool demonstration 🔥🔥🔥

@NicholasRehm 2 жыл бұрын

Best of luck to you and your studies. Controls is tough but you got this

@akshaydevanpally3764 2 жыл бұрын

@@NicholasRehm Thanks

@mscir 2 жыл бұрын

Do a comparison of lift with and without ducts around the prop blades.

@manofsan 2 жыл бұрын

I'd love to see you do something with plasma actuators and ducted fans. There are plenty of RC "jet" models out there that use ducted fans in place of turbines. But I'd always heard that ducts create increased drag problems. Meanwhile, I'd also read that plasma actuators which ionize the air can improve the flow characteristics and reduce drag. I'd like to know if it's possible to put the plasma actuators around the duct inlets to reduce the drag and improve the performance of the aircraft.

@NicholasRehm 2 жыл бұрын

That sounds absolutely insane. I’m in.

@manofsan 2 жыл бұрын

@@NicholasRehm - awesome! FYI, there's a real light sport aircraft that's recently come out called the *PJ-2 Dreamer.* It's styled to look like a real jet fighter, but it uses a piston engine to power twin ducted fans, in order to make it more affordable to operate, and also to comply with LSA restrictions on engines. But its speed tops out at 200mph due to the drag on the flow inside the ducts: kzfaq.info/get/bejne/hdGpiNVemMDYgWw.html

@MrEngineer_ Жыл бұрын

What about trying to fix the tip of the pendulum and flying drone to mimic real pendulum motion in air with invisible pivot?? How hard is that?

@TheRealLosna Жыл бұрын

Great channel, great projects. Did you consider using the Arduino Nano RP 2040? It has a fast processor and the IMU included on board ... looks like a perfect platform for these projects. And a GPS module too, to top it up...

@NicholasRehm Жыл бұрын

Specs look good minus i/o capabilities...not so god for lots of different sensors and RC equipment

@AyushSingh-zw2nw 2 жыл бұрын

Rafaello d'andrea (cofounder of Amazon Robotics, Professor at ETH Zurich) showed similar acrobatic experiments with drone in a ted talk around 10 years ago

@NicholasRehm 2 жыл бұрын

They used motion capture cameras

@Aaron_b_c 2 жыл бұрын

Smart

@tata_brown_123 2 жыл бұрын

Top ..💥👏👏👏👏👏

@danielcherrill269 2 жыл бұрын

nice work, can I buy a copy of your knowledge I have to know what you do :)

@NicholasRehm 2 жыл бұрын

Just hit that subscribe button and I’ll keep trying to share everything I know

@kiszkay 2 жыл бұрын

A może insta360 oneX zamontuj na szczycie tej tyczki. Powinny wyjść świetne ujęcia

@Incommensurabilities 2 жыл бұрын

Aww the drone gave a little squeak when it hit the ground 😅

@NicholasRehm 2 жыл бұрын

He deserves better than the abuse I put him through

@radioactive4388 2 жыл бұрын

Have seen a drone balance a pole on a pole and it could even flip the pole on the pole , on tedx

@slowvoltage 2 жыл бұрын

@Nicholas Rehm, I had a challenge but I am now realizing the double pendulum pid stabilized videos I've been seeing are not three dimensional. I was going to challenge you to get double pendy with it... but that's a lot of maths when the three dimensional double pendulum cannot freely swing through itself in reality (i cannot immediately think of a way); if we did have access to such a device that would be my challenge. Double Pendulum in all the axis's flying around scaring folk and crashing into flowerpots after a totally working for a good while. Hey, thanks for sharing; this was quality content.

@NicholasRehm 2 жыл бұрын

As long as it stays relatively vertical and doesn't swing down like you mentioned, the double pendulum on a drone is absolutely do-able. My ability to get a controller working well enough is a different story haha

@slowvoltage 2 жыл бұрын

@@NicholasRehm are signal IO'ing with pwm, serial, other? There are some protocols that could provide far faster than pwm/serial bus signaling. Thank you for replying to my double pendy suggestion.

@NicholasRehm 2 жыл бұрын

@@slowvoltage Its not so much an issue of computation/communications speeds, but precision of the drone controller in general

@slowvoltage 2 жыл бұрын

@@NicholasRehm as in the "tune" of the quad's flight controller? I... dare I say, I specialize in betaflight tuning from 80 to 800 grams without blackbox and obviously benefit from the non-heuristic approach, using black box logs... A good pattern for pure logists, have someone you trust throw your rig like a frisbee and you pretend your in Space Camp the movie and do your best (it's easier done than articulated) to regain control and then do normal flight patterns and the grocery list of isolated movements by way of your partner signal audibly for each change to the next movement based on timing; these would be reviewed as a time series set to evaluate for the various (scripted) movement event times. I prefer the heuristic approach personally. As an engineer, I will argue that floating point maths are best codified and abstracted for quick changes with unknown variations on the over all theme, the tune, so to speak. Am I way off?

@NicholasRehm 2 жыл бұрын

@@slowvoltage more so a problem of compounding error and reduced responsiveness as you go down the line of controlled variables from drone rate -> drone angle -> lower pendulum angle -> upper pendulum angle

@oadka 2 жыл бұрын

I would have expected the joystick potentiometers to give better measurements than an MPU 6050....interesting

@NicholasRehm 2 жыл бұрын

If they were fully linear and calibrated properly, then maybe. Too much work to do that :)

@nerobaal6655 Жыл бұрын

I took a shortcut, got lost, back tracked and then ended up walking down a few different paths.

@dwiranu5394 2 жыл бұрын

More than 35 minute? I'm curious about your batteries Man.

@marc_frank 2 жыл бұрын

would fpga's be a good next step for flight controllers? the tinyFPGA BX seems pretty cool

@MrGatlin98 Жыл бұрын

Now do it with a double spherical inverted pendulum

@peterryseck 2 жыл бұрын

5:58 why u gotta do me like that

@oadka 2 жыл бұрын

why is this comment not pinned

@Human-bf7kz 2 жыл бұрын

Change out the rod for a cup holder and add autonomous control and attempt to deliver a cup of coffee to someone .

@NicholasRehm 2 жыл бұрын

Hahah love that idea

@whereswa11y 2 жыл бұрын

Oh more helicopter fun. I wonder if the Dufus Level Earth Observer pop in to make silly claims.

@xl000 Жыл бұрын

Terry Davis would have done this easily in HolyC

@davidfoss4365 2 жыл бұрын

Hi Nicholas, I was just getting involved in model rocketry and remote controled aircraft when our airfield was closed because somebody felt a need to build another hospital. I suspect others have this trouble so I wondered if you have any tips to share to help your viewers find a place to indulge in this hobby or what restrictive laws we might encounter in our own neighborhoods.

@NicholasRehm 2 жыл бұрын

My best advice is to always have a kill switch for safety, and consider looking into smaller aircraft that you can fly below the tree line-if ever confronted about where you’re flying, your best defense is “I’m sorry, I didn’t know” Happy flying!

@Filip_Z 2 жыл бұрын

PLEAASSEE stick a 360 camera on this 👅🤤 that would be siiickkk

@NicholasRehm 2 жыл бұрын

That would be pretty cool wouldn't it? Need to find a cheap 360 cam now...

@silverXnoise Жыл бұрын

Poor little drone, let out a little whimper at impact.

@RedstoneCraftermc Жыл бұрын

but the shortcut learned your a lesson or two

@MisterBPK 2 жыл бұрын

Make drone landing on a QR code

@Alusnovalotus 2 жыл бұрын

Oooh. Sounds scientific. 🤩

@johndextersantos9541 Жыл бұрын

Sensei, how do i become like you? haha no, seriously.

@user-sv5vb1mj1q 2 жыл бұрын

Pfff make a stabilized double pendulum

@NicholasRehm 2 жыл бұрын

Alright

@anthonybaransky137 2 жыл бұрын

Your knowledge about code and programming is so far beyond me, it's laughable. It would take me a year to comprehend what you so casually understand so easily.