the innoventors andrew latchman brad panzarella
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Inverted Pendulum Control

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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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the innoventors andrew latchman brad panzarella
The Innoventors:

Andrew Latchman

Brad Panzarella

Inverted Pendulum Control

design overview

Mechanical

    • Belt and Sprocket
  • Control
    • PID
  • Electrical/Software
    • AD
    • PWM
Design Overview
mechanical

Objectives

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

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
electrical software

Components (AD, Motor Controller)

  • PicBasic
    • Pros (ease of use)
    • Cons (simplified to the extreme)
  • PCB Design
Electrical/Software
ad