EE471 Inverted Pendulum Design Project

This page contains a list of scheduled project events.

In addition, we maintain the following prioritized lists of what we're working on this week, and what we plan to do in the following weeks:

get a basic clue about what each group will be responsible for
Group 1: model the inverted pendulum system and determine the precision required (in number of bits) of the position sensor
Group 2: model the motor (torque) and derive a general translation equation for the vehicle
Group 3: become familiar with the varieties of PICs available and begin learning to program the PICs
Group 4: begin looking into numerical methods for implementing the PID control equation

Group 1: finalize the design of the position sensing device
Groups 1 and 2: bring the models together
Group 2: based on the estimated final mass of the vehicle and the time constant of the inverted pendulum, determine the gear ratio required
Group 3: based on the number of bits of precision for the position sensor and the other known inputs and outputs and the estimated memory requirements for the chosen numerical methods, finalize the choice for the microprocessor
Groups 3 and 4: begin writing the PID control program

Everyone will work together to to see that all of the systems work together correctly

Using the functional model of the vehicle/inverted pendulum system, each person will determine the PID tuning parameters. A competition will be held November 4 to compare performances.

Tuesday 10/7/97, 2:00 pm

Weekly project review.
Location: lab.

Tuesday 10/14/97, 2:00 pm

Weekly project review.
Assemble the system.
Location: lab.

Tuesday 10/21/97, 2:00 pm

Weekly project review.
Location: lab.

Tuesday 10/28/97, 2:00 pm

Weekly project review and system tests.
Location: lab.

Wednesday 10/29/97, 2:00 pm

Presentation to Dr. Irby.
Location: EE471 classroom.

SCHEDULE