INVERTED PENDULUM - Wayne State University...physical system and create simulation • Use of PID...
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College of Engineering Rachel Berlin-Allaire, Ashley Raby, Rafael Schaffa & Lisa Thomas INVERTED PENDULUM Technology and Innovation • Develop a mechanical system with the capabilities of stabilizing an inverted pendulum that is mounted to a cart and actuated along a linear rail by a timing belt • Develop a controls algorithm to stabilize the pendulum around its unstable equilibrium point • Control the horizontal position of the cart Design Concept University and Industry Engagement Mechanical Engineering Department • Nabil Chalhoub • Golam Newaz • Anthony Composto • Gurpinder Singh • Kayla Marshall • Brian Thompson • Lisa Rapicano Physics Machine Shop Team • Marvin Santure • Bob Kas-Mikha Corporate Supporters • Mahle • Comau Community Impact & Value • To be implemented in Wayne State University’s mechanical engineering undergraduate research lab. • Learning mechanism for future WSU control’s students • Physical application of controls applied to a non-linear system often found in texts and research literature Future Work • Implement a swing-up routine and then switch to controller for stabilizing pendulum • Implement switches to cut power to the system when cart is out of range • Fine tune PID controller to diminish overshoot and have more efficient stabilization Controls Concept Mechanical Design Considerations • Robust – to be used in subsequent semesters • Keep system safe from damaging itself - Install rubber stops on either end of both rails - Install two switches to cut power to the system when cart moves out of range • Use of two encoders with 4096 pulses/ revolution to ensure accurate detection of pendulum angle, and linear position of cart • Belt driven Controls Considerations • Create plant using SimMechanics to represent physical system and create simulation • Use of PID controller to stabilize pendulum and tune system using simulated plant. • Create an angular offset to allow for linear movement and control over horizontal placement of pendulum cart References • K. Sultan, “Inverted pendulum, analysis, design and implementation,” IIEE, Inst. of Eng. Pakistan. 2002 • R. G. Moreno and C. P. Gatico, “FPGA- Based Model of an Inverted Pendulum Hardware-in-the-Loop Simulations,” Univ. of Pad, Germany.
Transcript of INVERTED PENDULUM - Wayne State University...physical system and create simulation • Use of PID...
College of Engineering Rachel Berlin-Allaire, Ashley Raby, Rafael Schaffa & Lisa Thomas
INVERTED PENDULUM Technology and Innovation
• Develop a mechanical system with the capabilities of stabilizing an inverted pendulum that is mounted to a cart and actuated along a linear rail by a timing belt
• Develop a controls algorithm to stabilize the pendulum around its unstable equilibrium point
• Control the horizontal position of the cart
Design Concept
University and Industry Engagement
Mechanical Engineering Department • Nabil Chalhoub • Golam Newaz • Anthony Composto • Gurpinder Singh • Kayla Marshall • Brian Thompson • Lisa Rapicano Physics Machine Shop Team • Marvin Santure • Bob Kas-Mikha Corporate Supporters • Mahle • Comau
Community Impact & Value
• To be implemented in Wayne State University’s mechanical engineering undergraduate research lab.
• Learning mechanism for future WSU control’s students
• Physical application of controls applied to a non-linear system often found in texts and research literature
Future Work
• Implement a swing-up routine and then switch to controller for stabilizing pendulum
• Implement switches to cut power to the system when cart is out of range
• Fine tune PID controller to diminish overshoot and have more efficient stabilization
Controls Concept
Mechanical Design Considerations
• Robust – to be used in subsequent semesters • Keep system safe from damaging itself
- Install rubber stops on either end of both rails - Install two switches to cut power to the
system when cart moves out of range • Use of two encoders with 4096 pulses/
revolution to ensure accurate detection of pendulum angle, and linear position of cart
• Belt driven Controls Considerations
• Create plant using SimMechanics to represent physical system and create simulation
• Use of PID controller to stabilize pendulum and tune system using simulated plant.
• Create an angular offset to allow for linear movement and control over horizontal placement of pendulum cart
References
• K. Sultan, “Inverted pendulum, analysis, design and implementation,” IIEE, Inst. of Eng. Pakistan. 2002
• R. G. Moreno and C. P. Gatico, “FPGA-Based Model of an Inverted Pendulum Hardware-in-the-Loop Simulations,” Univ. of Pad, Germany.
