The innoventors andrew latchman brad panzarella
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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

Electrical/Software


It works!!!!

Enjoy

Demo


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