Inverted Inertia Wheel Pendulum - Control algorithm testing setup
by theskuric
Printable files (21)
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stlmount_table_sharft_holder.STL
703 Ko · 556 downloads
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stlprint_layout.STL
1.4 Mo · 543 downloads
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stepmabuchi_wheel_12T.STEP
211 Ko · 512 downloads
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step
nucleo_holder.STEP
73 Ko · 510 downloads
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stlcable_holder.STL
19 Ko · 542 downloads
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stlaxel_adapter_10mm_encoder.STL
384 Ko · 551 downloads
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stlbearing_holder.STL
39 Ko · 545 downloads
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stlmabuchi_wheel_14T.STL
122 Ko · 540 downloads
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stlencoder_holder.STL
64 Ko · 549 downloads
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stlnucleo_holder.STL
27 Ko · 540 downloads
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stltable_mount.STL
77 Ko · 540 downloads
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stlmabuchi_wheel_12T.STL
122 Ko · 546 downloads
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stlmotor_mout_mabuchi.STL
144 Ko · 535 downloads
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step
axel_adapter_10mm_encoder.STEP
247 Ko · 505 downloads
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step
bearing_holder.STEP
65 Ko · 498 downloads
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step
cable_holder.STEP
49 Ko · 498 downloads
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step
mount_table_sharft_holder.STEP
646 Ko · 491 downloads
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step
mabuchi_wheel_14T.STEP
231 Ko · 498 downloads
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step
motor_mout_mabuchi.STEP
145 Ko · 487 downloads
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step
encoder_holder.STEP
88 Ko · 492 downloads
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step
table_mount.STEP
147 Ko · 490 downloads
Description
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.