EE471 Inverted Pendulum Design Project
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EE471 Inverted Pendulum Design Project |
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This page contains links to documents authored by project members, to software programs and components developed by the project, and to other tools we've found useful and collected here for your convenience.
Each entry has a title, a summary, a list of authors, a date of publication or when it was last updated, and links to the material in various formats.
Optical Encoder Disk
This is a gif file that must be scaled to the desired size (5 cm square) and printed and transferred to the transparency.
By: James R. Weeks
Date: November 5, 1997
Formats: .gif (28.44 k)
Some Important Numbers
This is the document "Some Physical Measurements" with the pendulum's moment of inertia, I, and the distance to the center of mass of the pendulum, l, added.
By: James R. Weeks
Date: November 4, 1997
Formats: .doc (29.5 k), HTML
Application of the ITAE Performance Criterion to Achieve Robust PID Control
A general description of the method used to apply the ITAE criterion for controller design of a fourth order system.
By: James R. Weeks
Date: November 3, 1997
Formats: .doc (109.5 k), HTML
Inverted Pendulum Project Report and PID Control Parameter Determination
The report assignment for EE479.
By: James R. Weeks
Date: October 28, 1997
Formats: .doc (19.5 k), HTML
Subcircuit schematics and optical encoder general layout in bitmap form
The subcircuits include the pins of their intended connection to the PIC chip.
By: Scott Morstatt
Date: October 24, 1997
Formats: .bmp (39.8 k)
Force vs. Voltage and Speed vs. Voltage graphs
Contains the Force vs. Voltage, Acceleration vs. Voltage and Speed vs. Voltage graphs as well as the moment of inertia of the pendulum.
By: Philip Lipson
Date: October 27, 1997
Formats: .doc (103 k), HTML
Some Physical Measurements
The weight of the vehicle, and some of the components that will be on it as well as the rolling resistance of the vehicle are included in this document.
By: James R. Weeks
Date: October 16, 1997
Formats: .doc (19.5 k), HTML
This document tabulates the results of Group 2's experiments with the dynamometer.
By: James R. Weeks
Date: October 5, 1997
Formats: .doc (30.5 k), HTML
This document tabulates the results of Group 2's experiments with the dynamometer.
By: James R. Weeks
Date: October 5, 1997
Formats: .doc (30.5 k), HTML
This document tabulates the results of Group 2's experiments with the dynamometer.
By: Philip Lipson
Date: October 5, 1997
Formats: .doc (33 k), HTML
Inverted Pendulum Control Program Specifications
This document establishes the specifications Groups 3 and 4 must follow in developing the control program.
By: James R. Weeks
Date: October 5, 1997
Formats: .doc (37.5 k), HTML
New Policy for Group Management
This document discusses establishing a group leader for each group and his responsibilities.
By: James R. Weeks
Date: October 1, 1997
Formats: .doc (31 k), HTML
Motor and Drive Notes
The document describes the initial estimates of the motors characteristics, their derivation and confirmation in lab. It also establishes a procedure for determining the torque-speed curve for the motor.
By: James R. Weeks
Date: October 1, 1997
Formats: .doc (42 k), HTML
Inverted Pendulum System with Balance Drive Specifications
A specification separate from the initial assignment document.
By: James R. Weeks
Date: October 1, 1997
Formats: .doc (31 k), HTML
EE471 Design: Inverted Pendulum System with Balance Drive
The initial assignment document for the project.
By: James R. Weeks Date: September 21, 1997 Formats: .doc (45.5 k), HTML
Microchip's 1996 Product Selection Guide
A document which lists many of the available PIC microprocessors along with their features. Very helpful in determining which PIC chip to use.
By: Microchip Date: September 21, 1997 Formats: .pdf (547,596 bytes),
Application Note 575 Supplement
This application note supplement includes the floating point math include file for the PIC.
By: Microchip Date: November 2, 1997 Formats: .zip (225668 bytes),
Integration routine for the PID control program
integrat.asm is a functioning integration routine for 32 bit floating point math that currently integrates across twelve data points.
By: Andy Rizzo? Date: November 2, 1997 Formats: .asm (8891 bytes),
Floating point preparation program
Fprep.exe is an MS-DOS executable that converts an integer into PIC and IEEE floating point formats. It is used to verify the derivate.asm routine.
By: Microchip Date: November 2, 1997 Formats: .exe (79248 bytes),
Derivation routine for the PID control program
derivate.asm is a functioning derivation program for 32 bit floating point math.
By: David Petry Date: November 2, 1997 Formats: .asm (5138 bytes),
Floating point routines for the PID control program
Test.zip has the workings for the 32 bit floating point math.
By: Group 7 (specifically Scott Morstatt and Paul Richmond) Date: October 26, 1997 Formats: .zip (55719 bytes),
Subroutines for the PID control program
Inv_pend.zip has some of the current program subroutines we've created. LKUP.asm is the lookup table subroutine that converts Gray code to a positive logic register (see attached graycode.doc.) Funky.asm (excuse the title, it was very late...) Reads the encoders negative logic, sets a positive logic, strips the polarity bit and sets a 2's compliment 0xFF or d'-1' in the "polar" register (for later use in math calc's as well as a d/o for the motor direction switching relay)and stores the absolute value in "encode" register. Funky.sti is the pin enabled stimulus to debug funky.asm.
By: Group 7 (specifically Scott Morstatt and Paul Richmond) Date: October 26, 1997 Formats: .zip (20933 bytes),
Qbasic Data Acquisition Software for HP54600B Oscilloscope
A program that digitizes channel 1 and measures the frequency.
By: James R. Weeks Date: October 9, 1997 Formats: .bas (1,878 bytes),
None as yet.
HTML web page (HyperText Markup Language) .pdf Adobe Acrobat .doc Microsoft Word .rtf Rich Text .zip archive file for Windows
