Anda di halaman 1dari 22

# ROTATORY INVERTED

## PENDULUM USING ARDUINO

ANKUR RAI
4NM13EE007
ELTON MONTEIRO
4NM13EE020

WHATS A PEMDULUM?

WHATS A PEMDULUM?
A

## Pendulum is a stable system if there is no

external force acting on it.

At

## rest with no external forces acting, it is

at equilibrium position.

If

## the pendulum is displaced from its

equilibrium position it comes back to
equilibrium position which is exactly below
its pivot point.

The

## inverted pendulum consists of the same

elements as the pendulum but placed upside down.

Where

## the normal pendulum is inherently stable

since it goes towards equilibrium if no external
inputs are provided

The

## inverted pendulum is inherently unstable since

its equilibrium position is disrupted if no external
input is provided to keep it in place.

A common

## way to visualize an inverted pendulum

is to think of a person balancing a stick on the
palm of their hand.

If

## no correction is applied by moving the hand,

then the stick will inevitably fall over.

CONTROL SYSTEM
An

## inverted pendulum will be unstable unless its

position is controlled through some form of added
force at any given time.

The

## goal is to use methods from classical control

theory to stabilize an inverted pendulum in an
upright vertical position. This will be achieved by
first modeling the inverted pendulum (process)
and Servo motor (actuator).

BLOCK DIAGRAM

P CONTROLLER

the controller.

## It makes it possible to change the error signal in a linear

way.

COMPONENTS USED

Arduino

Uno

COMPONENTS USED

Servo Motor

mpu 6050

SYSTEM IMPLEMENTATION
CONNECTIONS

SYSTEM IMPLEMENTATION
CONNECTIONS

PROGRAMING PART
We

## will take the P controller and write program

to implement it on the actual pendulum system.

The

## pendulum consist of a Servo Motors and a

gyroscopic sensor as well as power supply .

The

## programs are written in C++ in order to make

use of the different libraries, functions, and tools
that are available for the Arduino.

PROGRAMING PART
The

## programs makes use of the , Servo library and

MPU library which makes it easy to interface the
Arduino with the MPU 6050 on the servo motor.

Arduino

## has added their own layer of abstraction

to the C++ language, but the basic structure of
the program is the same as for other
microcontrollers.

PROGRAMING PART
ALGORITHM
Step

Step

Step

Step

PROGRAMING PART
ALGORITHM
Step

Step

Step

## 7: Send signals to servo to obtain desired

output

Step

8: Goto step 6.

ACTUAL IMPLEMENTATION

ACTUAL IMPLEMENTATION

CONCLUSION
MEMS

## which is a trending technology is being

highlighted- which provides high level precision
control in a compact package.

A single

## Gyroscope can be used to obtain

stabilization in all the three axes.

The

THANK YOU