Recent content by PickyBiker

The stepper moves the cart, not the pendulum. In any case, I want a mechanical, electrical, computerized system with software that truly balances the pendulum and I want it on the lowly Arduino UNO. First goal is balancing, second goal is automatic swinging up to the balance position...

Most of what I see regarding fuzzy controlled inverted pendulums include modeling with MATLAB / simulink. Obviously as a retured hobbyist, I'm not going to be able to acquire those tools. So the question is, are there any less expensive or free tools for modeling this type of project?

Well after a good bit of testing and filtering, the angle from the optical encoder is very smooth, but as predicted above, the acceleration is quite jerky I haven't found a way to smooth that out. I would expect to see a rise as it accelerates and fall back to zero as as it levels off...

Good points on the optical encoders. Both are interrupt driven as is the stepper. When using the stepper however, the 500 PPS encoder is not necessary because the step count is trivial to track. The ISR's are devoid of any floating point math and those routines are extremely brief with only what...

I am intrigued by the Fuzzy logic idea. I'll look into that a little before continuing.

This is a 1.8 degree nema 17 stepper motor with microsteps set at 16. There are 16 x 200 = 3200 steps per rev. I think that will be smooth enough with a 38.5 mm diameter pulley. That works out to 8.27 revs/meter.

Wow, thanks for the advice and the encouragement. I am using an Arduino UNO for this system and I have tried both a PWM controlled DC motor, another couple of DC motors with gear reduction and the current Stepper motor. So far, the Stepper motor version comes closest to actually balancing the...

Okay, Stepper it is and the position of the cart will be used instead of force. Now that is settled, I have done a ton of work already so I would guess the next step might be to show what I have done and ask for validation/improvement. In a subsequent post, I will show the major variables and...

I'm speculating here. If I chose to revert to the DC motor instead of the Stepper Then FC would be force on the cart and through testing and measuring, I could make a map of the motor's applied force at different PWM levels. I'm guessing that would allow me to work with the formulas as given in...

I think a picture will help here. In some systems the motor drives wheels to move the cart. In this system, the motor drives the cart directly on the rail. This is an older pic with a DC motor. It has been changed to a stepper for more precise control. The optical encoder on the left end...

Yes I wish to balance an inverted pendulum by moving the cart it is hinged to. At the top of page 81 the equation reads: 11.11 Newton’s law of motion for particle A is FA = mA ∗ NaA, where: FA is the resultant of all forces on A; mA is the mass of A; and NaA is the acceleration of A in N...

I am using the Stanford “Dynamics: Inverted pendulum on a cart” document, https://web.stanford.edu/class/me161/documents/InvertedPendulumOnCartSolution.pdf, as the basis for the Arduino c code. I need help with the term Fc (Feedback force on the cart A) because the motor I’m using is a stepper...

Thank you. I was wondering where that should go. I will definitely show the source documents that are difficult for me.

Hello everyone, I am a 72 year old retired IT worker and I am interested in all things Arduino and a few things PI as hobbies. Although I have completed several dozen Arduino projects and a couple Raspberry PI projects, the latest project has me stumped because the physical motion math of an...