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.

WHATS AN INVERTED PENDULUM?

WHATS AN INVERTED PENDULUM?


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.

VISULAZING AN INVERTED PENDULUM


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.

Uses of An Inverted Pendulum

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

M=Kp, the proportional term Kp is the most basic part of


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

1: Power up the device

Step

2: Initialize the libraries

Step

3: Set the servo's at initial position

Step

4: Check whether gyroscope is ready

PROGRAMING PART
ALGORITHM
Step

5: Wait for the gyroscope interrupt

Step

6: Read the position values from gyroscope

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

system is cost effective.

THANK YOU