Rotary Inverted Pendulum

The whole system on a tripod

Introduction

Rotary Inverted Pendulum is built with an encoder, a brush motor, a STM32F103 board, and has no rotation limit. It is capable of setting target angle, non-stop swinging and automatically swinging up. This project is a work of team of 3, which includes shicaiwei123 and yoyolalala. Code and documents are available here. Platform details Code and documents are available here.


Demo


Mechanical structure

An optical encoder is used to measure the angle of the pendulum. Thus calibration needs to be down by relaxing the pendulum to get the absolute angle every time after reset.

Optical encoder
Optical encoder

A slip ring (or collector ring) is used to prevent the winding of the wire.

Slip ring
Slip ring

The DC brush motor with reduction gearbox and magnetic encoder is driven by a TB6612FNG model controlled controled with PWM signal. A 3-ceils lithium battery is used as power.

Complete circuit board
Complete circuit board

The mechanical structure consists of three round plates which supports the slip ring, motor, and a quick-release plate. The round plates are connected with hexagonal copper pillars. The whole structure is mounted to a tripod through the quick-release plate.

The core mechanical structure
The core mechanical structure
The complete mechanical structure
The complete mechanical structure

Software design

Please refer to Study on PID Control of a Single Inverted Pendulum System for the PID control system.

PID control system
PID control system

Also we refer to Research and Implementation of the Swing - up and Stabilizing Operation for Rotational Inverted Pendulum for the swing-up and stabilizing operation.

Swing - up and stabilizing operation
Swing - up and stabilizing operation

The swing-up and stabilizing operation and the changes between different modes are modeled as a state machine.

State machine for swing-up and stabilizing operation
State machine for swing-up and stabilizing operation
Cheng Zhang
Cheng Zhang
Graduate Student

My research interests include 3D reconstruction, 3D detection, 3D scene understanding, etc.

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