Inverted Inertia Wheel Pendulum - Control algorithm testing setup
von theskuric
Druckbare Dateien (21)
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stlmount_table_sharft_holder.STL
703 Ko · 560 Downloads
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stlprint_layout.STL
1.4 Mo · 548 Downloads
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stepmabuchi_wheel_12T.STEP
211 Ko · 516 Downloads
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step
nucleo_holder.STEP
73 Ko · 514 Downloads
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stlcable_holder.STL
19 Ko · 546 Downloads
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stlaxel_adapter_10mm_encoder.STL
384 Ko · 555 Downloads
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stlbearing_holder.STL
39 Ko · 548 Downloads
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stlmabuchi_wheel_14T.STL
122 Ko · 543 Downloads
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stlencoder_holder.STL
64 Ko · 552 Downloads
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stlnucleo_holder.STL
27 Ko · 542 Downloads
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stltable_mount.STL
77 Ko · 542 Downloads
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stlmabuchi_wheel_12T.STL
122 Ko · 550 Downloads
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stlmotor_mout_mabuchi.STL
144 Ko · 537 Downloads
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step
axel_adapter_10mm_encoder.STEP
247 Ko · 509 Downloads
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step
bearing_holder.STEP
65 Ko · 501 Downloads
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step
cable_holder.STEP
49 Ko · 501 Downloads
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step
mount_table_sharft_holder.STEP
646 Ko · 494 Downloads
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step
mabuchi_wheel_14T.STEP
231 Ko · 502 Downloads
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step
motor_mout_mabuchi.STEP
145 Ko · 489 Downloads
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step
encoder_holder.STEP
88 Ko · 494 Downloads
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step
table_mount.STEP
147 Ko · 494 Downloads
Beschreibung
This is a project of Inverted inertia wheel pendulum designed to test control algorithms for engineering students.
The process is unstable and very cool in my opinion :D
The electronics and mechanics are very simple and the main focus is for it to be easy to model and to test different algorithms.
The electronics was based on Stm32 Nucleo F411re board, monster motor shield and mabuchi rs-385 motor with encoder.
3D printing was done using Flashforge Creator Pro and CR-10 using PLA filament. Layer high was 0.1 mm and infill density 50%. I would stick to these parameters with Inertia wheel, but the others you can print with lower quality.
The git repo with more detailed explanations, all cad files and full software stack, is on the link:
https://github.com/askuric/inverted_inertia_pendulum
All the files were designed in Solidworks 2016, and all the files are provided (SLDPRT and STEP) for possible remixes and reuse in the git repository.
I had my share of fun with this project already, I would be happy to hear about your thoughts and upgrades.