Virtual On line
June 22, 2020
June 22, 2020
June 26, 2021
MAKER: Designing and Building the Classical Inverted Pendulum on a Cart The inverted pendulum system is an example commonly found in control system textbooks and research literature. Due to the presence of interesting dynamical characteristics associated with the system including nonlinearity, instability, and under-actuation, balancing of an inverted pendulum on a cart is a classical problem used in teaching control engineering. The objective of the control system is to balance the inverted pendulum by applying a force to the cart that the pendulum is attached to. Furthermore, building an, experimental setup for hands-on teaching of mechatronics control engineering, is possible using low-cost resources. In the setup to be presented, we have taken the problem to a higher level by increasing the degrees-of-freedom in the system. In the presented setup, the pendulum has two measured but unactuated degrees of freedom relative to the cart. The cart in turn is actuated along two directions in the horizontal plane. An Arduino based controller is used to stabilize the pendulum in upright position while moving the cart remotely. The project is done as a senior design graduation project by an interdisciplinary team consisting of four students from the departments of mechanical and electrical engineering at an international university. The special features and challenging parts of the project, the students’ experience and the lessons learnt from the project will be described in the paper. The prototype will show the achievements in the project.
Harib, K. H., & Sivaloganathan, S., & Oseni, A. O. (2020, June), MAKER: Designing and Building the Classical Inverted Pendulum on a Cart Paper presented at 2020 ASEE Virtual Annual Conference Content Access, Virtual On line . 10.18260/1-2--34939
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