Inverted Pendulum
The task for this project was to create something that uses an open loop
feedback system to control a device.
My team and I chose to create
an inverted pendulum operated by a spinning
mass. The theory behind this is that a mass at the end of a pendulum can
use changes in acceleration to generate a torque on the pendulum arm to
cause a rotation. Using this theory we were able to create a pendulum that
can balance in an inverted state.
Our design process consisted of
creating a CAD assembly of the device we
were building, using stock pieces of 8020 aluminum extrusion, an off the
shelf motor and encoder, and custom designed 3D printed parts. The next
step was to print and assemble the device, tweak the custom parts, reprint
and reassemble. After the device was assembled, we started working on the
code. The code controlled the voltage sent to the motor based on a simple
PID control algorithm based on the pendulum's position.
After
tuning the PID coefficients, we got the pendulum to successfully
start at the inverted position, get a push from an external force, and
eventually right it self again an maintain the inverted position.