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Inverted Pendulum Control System Overview

The Inverted Pendulum Project presentation details the team's exploration of control methods and mechanical equations, ultimately achieving a working model using PID control and Newtonian physics. Challenges included wiring issues and data collection with an IMU, which were resolved through manual adjustments and code development. The project highlights principles of control systems and robotics, with ongoing optimization of PID tuning variables for improved performance.

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117 views5 pages

Inverted Pendulum Control System Overview

The Inverted Pendulum Project presentation details the team's exploration of control methods and mechanical equations, ultimately achieving a working model using PID control and Newtonian physics. Challenges included wiring issues and data collection with an IMU, which were resolved through manual adjustments and code development. The project highlights principles of control systems and robotics, with ongoing optimization of PID tuning variables for improved performance.

Uploaded by

7byjvz2bcb
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Inverted Pendulum Project

This presentation outlines our team's work on an inverted pendulum. We


explored control methods and mechanical equations. We encountered
challenges but achieved a working model. This project demonstrates
principles of control systems and robotics.
Control Method Selection
Initial Approach: Hamiltonian Physics The Pivot: Newtonian Physics

Initially, we planned to use Hamiltonian physics. This was for mechanical equations with LQR control. We pivoted to Newtonian physics and PID control. PID control adjusts voltage to control the system.

Motor Control and Optimization


Manual Control
We controlled the motor speed and angle manually. This optimization was done with the motor controller.

Voltage Adjustment
We adjusted the voltage to identify optimal levels. This helped to find the correct voltage.

We tuned the motor controller. We found the ideal operating voltage.

IMU Integration Challenges


1 Data Collection with IMU
We began data collection with the IMU. wiring problem then emerged.

2 Wiring Issue Resolved


Loose wiring was fixed with soldering. We used copper wires with pin headers.

3 getting angles from acc data


using appropriate formulas as described in our code, we got the angle from the acceleration dataqwer
Code Development
PID Control Code Synchronization
We developed basic code for PID control. We also made a code for motor control The PID and motor control and IMU codes
and data collection from IMU
were synchronized

Optimization
Values of Kp, Ki, and Kd need optimization. The Kp, Ki and Kd are to be optimized next.

Our code development was split into stages. We worked to combine it into a single system.

Header and Library Inclusion


#include <Wire.h>
#include <MPU9250.h>

<Wire.h>
I2C library for MPU9250 communication.

<MPU9250.h>
MPU9250 sensor library for easy use.

Pin Definitions
PWM_PIN and DIR_PIN define the motor control pins.

• Pin 9 for Pulse Width Modulation (PWM) to control motor speed.


• Pin 8 for the motor's direction.
PID Tuning Variables
Kp, Ki, Kd
PID constants adjust motor response.

40.0 0.4 8.0


Kp Ki Kd
Proportional gain Integral gain Derivative gain

Tuning variables enable precise control. The gains help optimize the system to desired response of voltage.

• errorSum: Accumulates error for the integral term.

• previousError: Stores the last error to calculate the derivative term.

Main Loop: Sensor Data Collection


Variable Purpose

avgAngleY Average angle data

avgGyroZ Average gyro data

sampleCount Stable average of readings

Sensor data averages stabilize readings. This averaging helps to create accurate control signals.
CODE
#include <Wire.h>

#include <MPU9250.h>

MPU9250 mpu;

#define PWM_PIN 9

#define DIR_PIN 8

// PID tuning variables

float Kp = 40.0;

float Ki = 0.4;

float Kd = 8.0;

float errorSum = 0;

float previousError = 0;

void setup() {

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