andreasgdp / inverted-pendulum

Inverted-Pendulum

About The Project

Abstract

In this project, we have worked to get a pendulum to balance using control theory. The pendulum itself is mounted on a cart. The cart is controlled by a motor which is driven by a motor drive. We have programmed the movement of the motor through MachineExpert, on a Schneider PLC. To configure the drive we have used SoMove, where we have configured the signals between the drive and the PLC. To control the physical system, we have set up equations of motion and created a model based on the physical model in Simulink. Here we have been able to design controllers to comply with our performance requirements and simulated them in Simulink. Once the model and controller has produced satisfying results, we transferred the controller to our physical system. To verify the effect in the physical system, while driving the pendulum, we logged the angle of the pendulum through a CFC program on the PLC, which we were able to plot to get illustrations of the controllers’ performance.

Built With

• MatLab
• Schneider PLC (However not present in this repo)
• Pure manpower

inverted-pendulum's Issues

[Epic]: Control handling added external disturbances

Description

Sub Tasks

• [ ]

Comments / questions

[Epic]: Initial system

Description

This Epic will include the feature of having the system running both in simulation and physically with the use of a PID control to stabilise the system.

Sub Tasks

• #5
• #6
• #7
• #8

Comments / questions

[Epic]: Multiple control systems

Description

Sub Tasks

• Implement ??? control
• Implement control based on model
• ...

Comments / questions

[Story]: Basic control of physical system

Description

As a user, I would like to be able to control the inverted pendulum system so I can later implement a control system like a PID to stabilise the system.

Acceptance criteria

• Be able to move the slider that the pendulum is attached to forward and back
• Have enabled the detection of when the slider gets too close to the edges og the system
• Be able to read the angle of the pendulum

Comments / questions

[Story]: Simulation of model

Description

As a user, I would like to simulate the physical system so I can test controlling the system without actually using the physical system.

Acceptance criteria

• Be able to control the same things as in the physical system
  • Be able to move the slider
  • Be able to get the angle of the pendulum to use for control

Comments / questions

[Epic]: Start motion of pendulum from downward position

Description

Start motion of pendulum from downward position. This will then use the already existing control systems after movement to upright position.

Sub Tasks

• [ ]

Comments / questions

[Story]: Basic control of stabilisation (PID)

Description

As a user, I would like to be able to stabilise my system so I can win in life.

Acceptance criteria

• Have a stabilised PID controlled system (simulated)
• Have a stabilised PID controlled system (physical)

Comments / questions

[Story]: Model of system

Description

As a user, I would like to have a model of the inverted pendulum so I can create a control model that matches the actual model to get the best performance.

Acceptance criteria

• Parameters of the physical system has been gathered
• A model of the system has been established in simulink

Comments / questions