Reaction Wheel Balanced Inverted Pendulum - Optimally Designed for Withstanding Hard Blows

Рет қаралды 29,513

6 жыл бұрын

Publication: ieeexplore.ieee.org/document/...
This is our latest version of the reaction wheel balanced inverted pendulum presented at IEEE ARGENCON 2018.
In this project we designed and built a reaction wheel balanced inverted pendulum. The pendulum is stabilized in the vertical position with a discrete time LQR implemented in a microcontroller.
The mechanical design was done by parametrizing the most relevant dimensions of the assembly and then running multiple simulations sweeping through different combination of values. For each combination we evaluated what was the maximum angle the pendulum could recover and then selected the best combination of dimensions that maximized the performance of the system.

Пікірлер: 46

@rodstartube 5 жыл бұрын

one day that wheel will take it's revenge on you

@pradeepsangishetty3781 3 жыл бұрын

I wish that could happen 😂

@rodrigoarcanjodrums 4 жыл бұрын

Good job! Congrats!!

@Dan-qp1el 2 жыл бұрын

What a beautiful thing.

@boris_YouTube 6 жыл бұрын

Impecable! Me encanto

@okboing 4 жыл бұрын

My takeaway from this is that a reaction wheel can be hit with anything you find in your own house

@andreafavero71 3 жыл бұрын

Very nice built

@EasyCircuits 4 жыл бұрын

What motor you have used?

@israelsoto3522 5 жыл бұрын

Could you share the simulation model files? Thanks and great job.

@mateusheinenfeltrin2474 3 жыл бұрын

Which motor did you use?

@amalmohammed3328 3 жыл бұрын

Hi Gonzalo.. Please tell me the name of the motor or its specification... Please..

@Lweirday 4 жыл бұрын

i couldn't understand the concept of balancing ,and a read more articles,why when we turn the wheel clockwise the pendulum turn anti-clockwise is that magic ,what is the secret behind the wheel ,i mean can any wheel do that or special wheels,is it like the cart-pendulum concepts?? help me

@abdullahcakan 3 жыл бұрын

Can you share the files to improve the controller ?

@hoseinsaadatmanesh9823 3 жыл бұрын

Hi Gonzalo What is your motor DC name?

@GUILLERMO.NESPOlO 3 жыл бұрын

Hola Gonzalo estoy tratando de replicar esto mismo , pero con el pendulo colgando y no tengo idea por donde empezar. , vi que tus notas al respecto están en la página , pero no puedo acceder a ellas porque me pide un mail no gmail

@anasqai 3 жыл бұрын

Wow maybe if a robot fight too have this, it spins, then their hits will be pushed back 45° instead. Like kind of armour then behind is bullet proof or rocket proof

@gw6000 5 жыл бұрын

Hello! You did a great job. It's so robust. By the way, what is the "trick" that made pendulum pop up at 0:10 with weird noise? Please tell me the trick.

@saturos7672 4 жыл бұрын

it rapitly starts rotating in the opposite direction and then breaks hard when its standing

@anasqai 3 жыл бұрын

Wow looking at this i imagine shielding using glove with something spinning to block maybe will be something good defence?

@makisfun 5 жыл бұрын

Greetings! This video was very helpful! I am in a university of automation, and i have a final assignment to make a Reaction Wheel Inverted Pendulum. I wanted to ask, what parts do you suggest to buy for building this , and also what kind of encoder would make the best choice. I am a little bit confused on how to use and combine the H-bridge , the encoder , the gyroscope(if it is needed), e.t.c. Any advise would be so helpful! :)

@GonzaloBelascuen 5 жыл бұрын

ieeexplore.ieee.org/document/8646093

@makisfun 5 жыл бұрын

@@GonzaloBelascuen can you send me the pdf file from your project in my email? Its makisfun@gmail.com

@omarel-serafy9634 5 жыл бұрын

@@makisfun if you have the document can you send it to me? Thanks in advance oelserafy@hotmail.com

@forbiddenera 4 жыл бұрын

I'd also like an emailed copy if at all possible .. pendulum at idealsound.ca

@minamaged4377 Жыл бұрын

the type of motor pleass

@mborsic94 5 жыл бұрын

Hello :) When do you plan to publish the paper? Im currently working on my masters, and my thesis is inverted pendulum. Do you maybe have math extract for the model? And maybe matlab and C code? Thank you.

@GonzaloBelascuen 5 жыл бұрын

ieeexplore.ieee.org/document/8646093

@amrelshirbiny8329 Жыл бұрын

@@GonzaloBelascuen can you tell me how can i find reward function for your project

@charlesl.5359 5 жыл бұрын

@Gonzalo Belascuen, you project is amazing that it can withstand such hard blow! I am very interested in building a balanced inverted pendulum. So I am creating an account with IEEE so that I can purchase your paper. I am a new comer, who has little experience and knowledge about electronics and robot.......I would like to get your advise as to what would the key to understand your paper and even go further to build a project like this. Thanks in advance for your kind response.

@snikkeldak 4 жыл бұрын

It would require mechanics (torques, forces, speeds, accelerations etc.), a bit of programming (probably on a microcontroller like an arduino platform which is interfaced with some sensors), and finally the main domain would be control theory (feedback loops, PID controllers, state space controllers, state estimators like kalman etc.).

@philipokke 6 жыл бұрын

Would this work if the "rest/balance" orientation is sideways i.e. the pendulum is sticked perpendicular on a wall?

@GonzaloBelascuen 6 жыл бұрын

Hello! It would fall because of the same reasons you cannot stand horizontally on a vertical wall. The human analogy of the system would be someone standing on one leg and balancing by swinging his arms, you may realize that swinging your arms would not allow you to stand on a wall!

@philipokke 6 жыл бұрын

Gonzalo Belascuen Interesting! Where can this be applied/utilized if I may ask? Like can it be used in space stations or wherever

@Three2NineProject 5 жыл бұрын

@@philipokke Check this out kzfaq.info/get/bejne/hdGWZZtkqNqRfo0.html

@anasqai 3 жыл бұрын

Maybe can lessen the damage hitting to ourselves.

@rodrigo_dm 6 жыл бұрын

Thats some outstanding work! Im trying to learn basic control algorithms without the mathematics background but having a hard time. How did you set the parameters up correctly?

@GonzaloBelascuen 6 жыл бұрын

If you really want to understand what is going on you must get into the mathematics like I did. However I found this guy that teaches control theory without getting heavily into the math, look up "Control Bootcamp" on youtube, he has a long playlist of videos that starts from the basics.

@rodrigo_dm 6 жыл бұрын

Thank you!!! Will get to that ASAP

@GonzaloBelascuen 5 жыл бұрын

ieeexplore.ieee.org/document/8646093