DASL: Inverted Pendulum

Contents:
  • Parts List
  • Motor Driver
  • Fixture

    Parts List:

    Estimated Total Cost w/o Shipping and Tax:

     

    Number of desired Units:

    10

    Estimated Total Cost w/o Shipping and Tax:

    Single Unit:

    Total:

     

     

     

     

     

     

     

     

     

    †$††††††††††††††† 82.34

    †$††††††††††††††††††† 823.40

     

     

     

     

     

    Item Description

    Manufacturer

    Supplier

    Product Link

    MFG: Part Number

    Supplier: Part Number

    Price (2007)

    Quantity (Per Unit)

    Quantity (Total)

    Cost (Per Unit)

    Cost (Total)

    Low input current Opamp

    Microchip Co.

    http://www.jameco.com/

    MCP6002-I/P

    MCP6002-I/P

    311001

    †$†††††† 0.45

    0

    0

    †$†††††††††††††† -††

    †$††††††††† -††

    High Output Current Opamp

    Major Brands

    http://www.jameco.com/

    LM675T

    LM675T

    120926

    †$†††††† 4.85

    2

    20

    †$††††††††††† 9.70

    †$†††† 97.00

    Small Geared Motor

    Maxx

    http://www.maxxprod.com

    EPU10

    EPU10

    EPU10

    †$†††† 15.95

    1

    10

    †$††††††††† 15.95

    †$†† 159.50

    Heat Sink for Small Motor

    Maxx

    http://www.maxxprod.com

    EPH12

    EPH12

    EPH12

    †$†††††† 2.00

    1

    10

    †$††††††††††† 2.00

    †$†††† 20.00

    Optical Encoder

    US Digital

    http://www.usdigital.com

    E4P-300-250

    E4P-300-850

    E4P-300-850

    †$†††† 19.95

    2

    20

    †$††††††††† 39.90

    †$†† 399.00

    Encoder Wire

    US Digital

    http://www.usdigital.com

    CA-3285-1FT

    CA-3285-1FT

    CA-3285-1FT

    †$†††††† 5.25

    2

    20

    †$††††††††† 10.50

    †$†† 105.00

    Wheels 1-1/2" (2)

    Dave Brown /  Tower Hobbies

    http://www.towerhobbies.com

    LXB904

    LXB904

    LXB904

    †$†††††† 4.29

    1

    10

    †$††††††††††† 4.29

    †$†††† 42.90

     

    Motor Driver:

    The Schematics in Figure 1 below shows the schematics for the analog motor driver.† It is important to note that the input comes from the NI-USB-6211 DAQ. Please note that the motor driver is now function and has been tested, please see Figure 2 below for the output testing of the analog motor driver.

     

    Figure 1 (Analog Motor Controller/Driver.† Input = -10V to 10V)

     

     

    Please see Figure 2 below for the plot of the Input Voltage vs. Output Voltage (of the initial amplifier), Motor Voltage, and Input From DAQ.

     

    Vin_amp = Input to Opamp U4 from full wave rectifier/absolute value circuit

    Vout_amp = Output of Opamp U4

    Motor Voltage = Voltage Across the Motor

    Motor Spinning? = if 1 than the motor is spinning, if 0 the motor is not spinning

    Vin from DAQ = Input voltage given from the NI-USB-6211

     

    Figure 2 (Input Voltage Vs. Input to amplifier, voltage across the motor, output of the amplifier, etc)

     

     

     

     

    Fixture:

    Weekly Update 2007-07-25

     

     

     

     

    Pendulum

     

     

    Free Wheel

    ††††††††††††††††††††††††††††††††††††††††††† Drive Wheel

     

    Figure 1 (Front of the cart)

     

    Figure 1 above shows the front of the cart-pendulum system.† The wheel to the right is the drive wheel and the wheel to the left is able to spin freely.† The wheel to the left is also used to measure the distance traveled from the origin, aka the starting position.

     

     

     

     

     

     

     

     

     

    Pendulum

    †††††††††††††††††††††††††††††††††† Screw into Shaft

     

     

     

     

    Figure 2 (Top of the cart)

     

    In Figure 2 above you can see the top of the cart system.† The pendulum is a threaded rod that screws into the shaft, thus it can be easily removed for transportation and storage.

     

     

    †††††††††††††††††††††††††††††††††††† Position Encoder

     

    † Angel Encoder

     

     

     

     

    †††††††††††††††††††††††††††††

     

    Figure 3 (Back of the cart)

     

    In Figure 3 above you can see the two encoders that are used to make measurements of the system.† The one on the top, connected to the pendulum, is used to measure the angel that the pendulum is at.† The other encoder, on the bottom right, is connected to the free wheel in Figure 1 above and is used to measure the distance traveled from the starting position.

     

     

     

     

    †††††††††††††††

    ††††††††††††††††††††††

    ††††††††††††††††††††††††††††††† Pendulum

     

    Wheels†††† Encoders†††† Arm†††† Pivot†

     

    Figure 4 (Whole Cart)

     

    Figure 4 shows the cart attached to the arm which is attached to the pivot point.† The pivot point can be attached to a heavy object or a suction cup to act as solid point for the cart to spin around.† In the future this point will have the motor and encoder wires attached through it via a slip ring type setup to allow for 360 degree rotation around the pivot.

     

    Figure 5 (Pendulumís mass)

     

    Figure 5 shows the top of the pendulum and itís mass.† The mass is attached by two small screws on the threaded rod, the pendulumís arm, and is able to be moved up and down.† This will allow us to change the dynamics of the system by changing the center of mass instead of adding more mass.

     

    Please click on the two images below for a video of the cart-pendulum system working with Labview and the NI-USB6211 DAQ. ††Please click here for the Labview code used in the videos below.

     

    Please note that the videos below are on the DASL servers but I do not have a public folder yet so it will ask you to log in, my user name as password is still the default dlofaro:daslftp