Reaction Wheel Pendulum - PID tuning at operating point using Arduino and Simulink 2of4

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Uploaded by on Aug 15, 2010

Video quality is low due to low lighting...

check out
Testing Swing-Up using Arduino and Simulink 1of4
http://www.youtube.com/watch?v=pkbUsZ94NT0
and
Swing Up and PID capturing using Webcam, Arduino and Simulink 3of4
http://www.youtube.com/watch?v=09JFUtREIro
and the final version here
http://www.youtube.com/watch?v=ujgmYacFMrs

Hardware (some changes from first swing up tests)
1. 1 Hand Held Battery fan
2. Removed 6v dc motor and fitted a stronger 9v dc motor
3. Small Rod with metal weights as rotor
4. A nut and bolt such that the natural period of osscilation could be tuned as desired.
5. A shaft for the pendulum - in this case a welding rod!
6. Arduino Duemilanove or similar
7. H-bridge - L298N (upgraded from L298D due ti new motor)
8. A 30fps webcam

also

http://www.youtube.com/user/controleeei#g/c/F16D46CB5319D172

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