Inverted Pendulum Balancer
The goal of this project was to build and implement an inverted pendulum balancer, in the vertical two dimensional plane, using Proportional-Integral-Derivative (PID) feedback control.
The inverted pendulum balancer is a radio controlled car modified by adding a plexiglass platform and an inverted pendulum with free rotating pivot. The electrical component of the balancer brings together computational hardware (Atmel Mega32 microcontroller), an input angle sensor (US Digital Optical Shaft Encoder), and an output motor driver (National Semiconductor LMD18200 H-Bridge) onto a single board whose sole purpose is to autonomously control the motion of the car in order to keep the pendulum from falling.
Motivated by the School of Mechanical & Aerospace Engineering’s Feedback Control Systems course at Cornell University, our desire was to integrate the knowledge of stabilizing an unstable system using feedback control (MAE478), the fast, flexible computing power of microcontrollers (ECE476), and the use of real-world engineering tools and budgetary constraints imposed on us by project managers. The result was a simple, cheap, and fun device that completed our desired goal.
Link: http://instruct1.cit.cornell.edu/courses/e...9kh98/index.htm
The goal of this project was to build and implement an inverted pendulum balancer, in the vertical two dimensional plane, using Proportional-Integral-Derivative (PID) feedback control.
The inverted pendulum balancer is a radio controlled car modified by adding a plexiglass platform and an inverted pendulum with free rotating pivot. The electrical component of the balancer brings together computational hardware (Atmel Mega32 microcontroller), an input angle sensor (US Digital Optical Shaft Encoder), and an output motor driver (National Semiconductor LMD18200 H-Bridge) onto a single board whose sole purpose is to autonomously control the motion of the car in order to keep the pendulum from falling.
Motivated by the School of Mechanical & Aerospace Engineering’s Feedback Control Systems course at Cornell University, our desire was to integrate the knowledge of stabilizing an unstable system using feedback control (MAE478), the fast, flexible computing power of microcontrollers (ECE476), and the use of real-world engineering tools and budgetary constraints imposed on us by project managers. The result was a simple, cheap, and fun device that completed our desired goal.
Link: http://instruct1.cit.cornell.edu/courses/e...9kh98/index.htm