Inverted Pendulum System with Balance Drive Specifications

 

  1. The pendulum position sensor will be an optical encoder and must operate using gray code and LED sensors. It will have a minimum resolution of 1o. This means that each encoder position will represent a maximum of 1o.
  2. The pendulum will have 60o of rotation, 30o on each side of vertical.
  3. Eight AA batteries will be used to power the system.
  4. Pulse width modulation (PWM) will be used to control the motor speed.
  5. A 2N2222, or similar device, will be used to power the servo motor.
  6. If the pendulum should fall to 30o either way, the system will stop.
  7. At startup, with the pendulum resting at 30o either way, the system will right the pendulum autonomously.
  8. The pendulum will only rotate through one plane around a fixed axis.
  9. A PIC microprocessor from Microchip must be used.