Inverted Inertia Wheel Pendulum - Control algorithm testing setup

di theskuric

File stampabili (21)

  • stl

    mount_table_sharft_holder.STL

    703 Ko · 556 download

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  • stl

    print_layout.STL

    1.4 Mo · 543 download

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  • step

    mabuchi_wheel_12T.STEP

    211 Ko · 512 download

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    nucleo_holder.STEP

    73 Ko · 510 download

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  • stl

    cable_holder.STL

    19 Ko · 542 download

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  • stl

    axel_adapter_10mm_encoder.STL

    384 Ko · 551 download

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  • stl

    bearing_holder.STL

    39 Ko · 545 download

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  • stl

    mabuchi_wheel_14T.STL

    122 Ko · 540 download

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  • stl

    encoder_holder.STL

    64 Ko · 549 download

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  • stl

    nucleo_holder.STL

    27 Ko · 540 download

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  • stl

    table_mount.STL

    77 Ko · 540 download

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  • stl

    mabuchi_wheel_12T.STL

    122 Ko · 546 download

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  • stl

    motor_mout_mabuchi.STL

    144 Ko · 535 download

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  • step

    axel_adapter_10mm_encoder.STEP

    247 Ko · 505 download

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  • step

    bearing_holder.STEP

    65 Ko · 498 download

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  • step

    cable_holder.STEP

    49 Ko · 498 download

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  • step

    mount_table_sharft_holder.STEP

    646 Ko · 491 download

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  • step

    mabuchi_wheel_14T.STEP

    231 Ko · 498 download

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  • step

    motor_mout_mabuchi.STEP

    145 Ko · 487 download

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  • step

    encoder_holder.STEP

    88 Ko · 492 download

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  • step

    table_mount.STEP

    147 Ko · 490 download

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Descrizione

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

https://youtu.be/POPPNbzDYbw

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.

Tag

#control #hands on learning #inverted pendulum #Laboratory #learning #mechatronics #student project