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Inverted Pendulum Control

The Innoventors : Andrew Latchman Brad Panzarella. Inverted Pendulum Control. Hardware Architecture. Software Architecture. Mechanical Belt and Sprocket Control PID Electrical/Software AD PWM. Design Overview. Objectives Motion confined to a single plane

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Inverted Pendulum Control

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  1. The Innoventors: Andrew Latchman Brad Panzarella Inverted Pendulum Control

  2. Hardware Architecture

  3. Software Architecture

  4. Mechanical • Belt and Sprocket • Control • PID • Electrical/Software • AD • PWM Design Overview

  5. Objectives • Motion confined to a single plane • Control unhampered by mechanism • Friction • High Speed • High Acceleration (Positive and Negative) Mechanical

  6. PID • u(n) = u(n-1) + Kp(e(n) – e(n-1)) + Ki(e(n) + e(n-1)) + Kd(e(n) – 2*e(n-1) + e(n-2)) • Affect of Kp, Ki, Kd terms Control

  7. Components (AD, Motor Controller) • PicBasic • Pros (ease of use) • Cons (simplified to the extreme) • PCB Design Electrical/Software

  8. It works!!!! Enjoy Demo

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