Inverted pendulum system project.
The aim was to have a robot, swing up and stabilize a pendulum on it's own. The system was modeled with 3 nonlinear differential equations. Boundary conditions: the cart could move to the left and right no more than 30cm. The length of pendulum was 14 cm. Sensor fusion algorithm reaction is 1millisecond. Optimal control algorithm is run at firmware level.
DC motor regulator was soldiered, firmware and software designed and implemented from the scratch at the department of Control Technologies, Kaunas University of Technology. Co-authored by Edmundas Geguzis during his 9 months studies period during his Master's degree thesis work.
Негізгі бет Inverted pendulum
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