EE471 Inverted Pendulum Design Project
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[ Home | Members by Group | Schedule | Status | Documentation | Data | Q & A ]
EE471 Inverted Pendulum Design Project |
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[ Home | Members by Group | Schedule | Status | Documentation | Data | Q & A ] |
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Status Report for the Week of October 5
On Tuesday, October 7, each group reported the elected group leader. Following is a summary of each group's report.
Group 1: As a result of James' decision to not use the steel beam as the pendulum, group 1 was left hanging in the wind. Group 1 reported on a new direction: design of the pendulum based on the acceleration of the vehicle. They are waiting for the final data from Group 2 to use the mathematical formulas to design the pendulum. A basic optical encoder was discussed indicating a dawning understanding of how the encoder will work and the ability to realize it in physical form.
Group 2: Acquired some good data (see Motor Characteristics). However, now that the vehicle is complete, they will use some test apparatus to determine its rolling resistance and its acceleration at various voltages.
Group 3: Has chosen the PIC 16C63 as the microcontroller. It has two PWM outputs.
Group 4: Has chosen some simplified, though certainly valid in our circumstance, integration and derivation techniques. The techniques chosen will make an assembly implementation quick and cheap in terms of computation speeds and program and data memory requirements. See the Notes On the Control Program.
Project Coordinator's Contribution:
Discussed the reasons why the methods of analysis being taught in EE471 are actually inadequate for the microprocessor based (or digital) system we are designing. Discussed the significance of sampling rate and the errors inherent in a sampled system.
Project Coordinator's Assessment for the Week of October 5:
While we aren't on the schedule, we have achieved roughly 75% of the required progress. Since the tasks of Groups 3 and 4 are not dependent on the completion of the tasks of Groups 1 and 2, things should come together in the next two and a half weeks. I would refer all members of the Project to the projected progress shown in the Schedule. With only half the quarter left, it would be great to get the hard work done in the next couple of weeks.