Inverted pendulum
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11 жыл бұрынInverted pendulum system project.
The aim was to have a robot, swing up and stabilize a pendulum on it's own. The system was modeled with 3 nonlinear differential equations. Boundary conditions: the cart could move to the left and right no more than 30cm. The length of pendulum was 14 cm. Sensor fusion algorithm reaction is 1millisecond. Optimal control algorithm is run at firmware level.
DC motor regulator was soldiered, firmware and software designed and implemented from the scratch at the department of Control Technologies, Kaunas University of Technology. Co-authored by Edmundas Geguzis during his 9 months studies period during his Master's degree thesis work.
@GeankDOORS 9 жыл бұрын
Hi, I'm working on a similar project, although using furuta swing-up strategy and cascade PID for stabilization. I'm having problems with the stabilization control "catching" the pendulum after the swing-up brings it to the control zone (+-25º) and the "angle zero" gets lost, I see in your video that the pendulum even after several turns still is able to be stabilized, how do you do that? do you use some logic to reset the encoder that measures pendulum angle? and if so, how do you do it? Any help would be appreciated.
@RegiDoIt 9 жыл бұрын
GeankDOORS Yes, I do. Encoders usually have third channel called Z which can be used to recalibrate your drifted reference. But it is a small pulse, so be careful to catch it. It produces a pulse when there is full rotation. So after full rotation you know exact reference.
@GeankDOORS 9 жыл бұрын
RegiDoIt Oh I see, my encoders don't have the index channel so I guess I'll need to work on some logic on simulink to do the angle reset. Thanks anyway.
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