Simple PID Pendulum

Six weeks into the enormous task of building an inverted pendulum (from the ground up: discrete MOSFET's and an optoisolator as an H-bridge; two ATMega8 MCU's communicating through SPI; a clock built out of two MOSFET's, a couple caps, and a 20MHz crystal; MAX232 serial interface chip; LM7805 linear reg for logic levels; all mechanical parts hand-machined out of billet aluminum or acrylic on traditional lathes and mills; an HP5500 encoder; a $300 Pittmann motor; and a thousand lines of code), we reached the threshold of interfacing Matlab with the MCU through USART. In this video, we had just gotten a PID control working. It'll be much more refined later. Yes, that's electrical tape and C-clamps holding the thing together.

Category:

Science & Technology

Tags:

• Inverted
• Pendulum

[mtlsteven]

motor going too fast, and pendulum need more weight, unstable when disturbance cause motor overreacted, decrease P!!!. and put a reference point to stablize, then it can stand still.

[rikrdos6]

any way to make it stand still?

[Smartalogu]

5 stars guys (and girl :p) awesome project. I am also an engineer an I can assure you that your project is great.

[santeerock]

haahahh thats me knocking it down hahah