Double inverted pendulum
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Uploader Comments (angelrubiodiaz)
All Comments (30)
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Can anyone explain this to me without insulting me or harassing me...?
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@jdwoods2008 oh that makes sense I guess
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Think of someone backing up one of the trailer trucks with two trailers on it.
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Very good work
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wow...that makes me speechless 0.o
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You can cehck this video. It also withstands perturbations :-)
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HOL-Y-SHIT... this is amazing!!! I'm honestly amazed, hahaa nice work man.
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that's amazing, surely eventually the upper half of that pendulum would just fold over and it wouldn't be able to compensate because if it goes one way it only stabilises the bottom half and the top half will still fall over, and if it goes the other way then the bottom half will fall over, thus the top one too. basically, I'm not sure how it keeps both halves of the pendulum straight when it should just fold and fall over
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Hi,
I'm a brazilian control student, and my project is the same as yours. If you could help me, I would like to know what kind of connector did you used on the rotating axis of the first pendulum (which is attached to the cart), to get the signal of the second encoder (on the joint between the 2 encoders).
Thanks in advance
Vinicius
gidogirardi 2 years ago
Hi,
There are no special connectors to the encoders. The cable was long enough to allow them to spin. I do not know if this answers your question.
Best regards,
Angel
angelrubiodiaz 2 years ago
Not to be a dick, but why do you only show about 2 seconds of balance? Does it fail after it gets chaotic?
ketamunke 3 years ago
No, it stands still and it is able to stand in the upright position even if there are perturbations. There is another video that shows this.
angelrubiodiaz 3 years ago
how many encoders are you using? i am sure that you have one for the motor, one for the pendulum. im wondering if you have a third encoder on the second arm, i dont see a wire attached to it. i have a built an inverted pendulum using quanser and simulink but its only a single arm and i am interested in trying this double pendulum but i am trying to imagine the difference in the dynamics and how much my equations are going to change by adding another arm. my current system uses LQR to control it.
stuckintexas33 3 years ago
I am using 3 encoders. The cable is hidden in the second arm.
The dynamics equation are quite different from that of a single pendulum (and of course there is one additional DOF). If you want, we wrote these equations in the paper of the previous comment.
angelrubiodiaz 3 years ago