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Registered Member #1838
Joined: Tue Dec 02 2008, 06:01PM
Location:
Posts: 38
The aim was to build a inverted pendulum with readily available parts
Specs: Length of track 463mm Length of pendulum 210mm Pendulum encoder: 1200 cpr (from a hp inkjet printer) Track encoder: 2cpr, homemade rotary encoder on the shaft of the motor Motor: Unknown – not critical – from my junk pile. Controller: Arduino uno Rev3 H-Bridge: Bob Blick’s design fitted with opto couplers on the signal inputs (just in case) - Needs cooling Runs off a 12V Battery, I found that a atx computer power supply didn’t work. Stil need to check why that is.
Strangely enough I could not find code for a linear inverted pendulum on the net. So I had to write my own. Fortunately there is code available for the rotary type and for the two wheeled (segway) type.
The code is currently in Afrikaans, if there is interest I will translate and publish. Its bin almost 15years since I programmed something so the code is very basic.
Registered Member #2099
Joined: Wed Apr 29 2009, 12:22AM
Location: Los Altos, California
Posts: 1716
Lovely work! Thank you for sharing. Is the cart moved by a brushed DC motor?
The canonical control problem of inverted pendulums was being worked on when I was in college in the 1970's. Things like Arduinos were unimaginable back then.
Registered Member #1838
Joined: Tue Dec 02 2008, 06:01PM
Location:
Posts: 38
Thanks. Yes the motor is a brushed dc motor, which I only use at about 50% of its full potential. I have made it such that I can swap the motor for a stepper if need be.
Back when I was in college (in the 90s) we worked mostly with the pic16f84 in assembly. What a delight to work with the arduino!
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Arduino controlled Inverted Pendulum
