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Discussion Groups | Piclist | Re: Inverted Pendulum
A discussion group for the PICMicro microcontroller. Also called the Microchip PIC, this list is dedicated to the use and abuse of this fine, simple, microcontroller. Close to topic posts are welcome, ie. general electronics.
Inverted Pendulum - Dennis Crawley - Aug 8 18:13:45 2006
Hi all,
There are two movies about the controller I've made in this link.
Let me say thanks for the support received from this list, in one or another
way, as well as the received from PICLIST at MIT,( since many of you are
subscribed at both,... but no echo there)
www.geocities.com/proyectosenpic
All the page is in Spanish :(, but more or less is this:
1.- The control uses a PIC 16F873
2.- Uses two potentiometers, one for the pendulum, the other for the arm
3.- The pendulum pot. signal is restricted to ±15º and converted to a 0 to
1024 ADC steps.
4.- The motor is controlled with PWM & H bridge.(Scalectrix 12VDC motor)
5.- There is a PID in the PIC to control the pendulum, nested into a
proportional controller which controls the arm.
6.- A VB program receives at 115Kpbs the two pot. status every 20ms.
7.- The VB program can change Kp, Ki, Kd and Kx(arm), "on the fly".
Any suggestions and comments are appreciated,
Regards,
Dennis Crawley
__________________________________________________
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There are two movies about the controller I've made in this link.
Let me say thanks for the support received from this list, in one or another
way, as well as the received from PICLIST at MIT,( since many of you are
subscribed at both,... but no echo there)
www.geocities.com/proyectosenpic
All the page is in Spanish :(, but more or less is this:
1.- The control uses a PIC 16F873
2.- Uses two potentiometers, one for the pendulum, the other for the arm
3.- The pendulum pot. signal is restricted to ±15º and converted to a 0 to
1024 ADC steps.
4.- The motor is controlled with PWM & H bridge.(Scalectrix 12VDC motor)
5.- There is a PID in the PIC to control the pendulum, nested into a
proportional controller which controls the arm.
6.- A VB program receives at 115Kpbs the two pot. status every 20ms.
7.- The VB program can change Kp, Ki, Kd and Kx(arm), "on the fly".
Any suggestions and comments are appreciated,
Regards,
Dennis Crawley
__________________________________________________
Preguntá. Respondé. Descubrí.
Todo lo que querías saber, y lo que ni imaginabas,
está en Yahoo! Respuestas (Beta).
¡Probalo ya!
http://www.yahoo.com.ar/respuestas
to unsubscribe, go to http://www.yahoogroups.com and follow the instructions
(You need to be a member of piclist -- send a blank email to piclist-subscribe@yahoogroups.com )
Re: Inverted Pendulum - dlc - Aug 8 23:56:13 2006
Looks like fun. Microchip does a demo like yours at the Masters
conference that is all on the PIC. They use a shorter radius on a full
circle track and a pot on the arm that can spin 360 degrees, looks a lot
like yours, but no PC in the loop.
DLC
Dennis Crawley wrote:
> Hi all,
>
> There are two movies about the controller I've made in this link.
> Let me say thanks for the support received from this list, in one or another
> way, as well as the received from PICLIST at MIT,( since many of you are
> subscribed at both,... but no echo there)
>
> www.geocities.com/proyectosenpic
>
> All the page is in Spanish :(, but more or less is this:
>
> 1.- The control uses a PIC 16F873
> 2.- Uses two potentiometers, one for the pendulum, the other for the arm
> 3.- The pendulum pot. signal is restricted to ±15º and converted to a 0 to
> 1024 ADC steps.
> 4.- The motor is controlled with PWM & H bridge.(Scalectrix 12VDC motor)
> 5.- There is a PID in the PIC to control the pendulum, nested into a
> proportional controller which controls the arm.
> 6.- A VB program receives at 115Kpbs the two pot. status every 20ms.
> 7.- The VB program can change Kp, Ki, Kd and Kx(arm), "on the fly".
> Any suggestions and comments are appreciated,
>
> Regards,
> Dennis Crawley
>
>
>
>
> __________________________________________________
> Preguntá. Respondé. Descubrí.
> Todo lo que querías saber, y lo que ni imaginabas,
> está en Yahoo! Respuestas (Beta).
> ¡Probalo ya!
> http://www.yahoo.com.ar/respuestas
>
> to unsubscribe, go to http://www.yahoogroups.com and follow the instructions
>
(You need to be a member of piclist -- send a blank email to piclist-subscribe@yahoogroups.com )
conference that is all on the PIC. They use a shorter radius on a full
circle track and a pot on the arm that can spin 360 degrees, looks a lot
like yours, but no PC in the loop.
DLC
Dennis Crawley wrote:
> Hi all,
>
> There are two movies about the controller I've made in this link.
> Let me say thanks for the support received from this list, in one or another
> way, as well as the received from PICLIST at MIT,( since many of you are
> subscribed at both,... but no echo there)
>
> www.geocities.com/proyectosenpic
>
> All the page is in Spanish :(, but more or less is this:
>
> 1.- The control uses a PIC 16F873
> 2.- Uses two potentiometers, one for the pendulum, the other for the arm
> 3.- The pendulum pot. signal is restricted to ±15º and converted to a 0 to
> 1024 ADC steps.
> 4.- The motor is controlled with PWM & H bridge.(Scalectrix 12VDC motor)
> 5.- There is a PID in the PIC to control the pendulum, nested into a
> proportional controller which controls the arm.
> 6.- A VB program receives at 115Kpbs the two pot. status every 20ms.
> 7.- The VB program can change Kp, Ki, Kd and Kx(arm), "on the fly".
> Any suggestions and comments are appreciated,
>
> Regards,
> Dennis Crawley
>
>
>
>
> __________________________________________________
> Preguntá. Respondé. Descubrí.
> Todo lo que querías saber, y lo que ni imaginabas,
> está en Yahoo! Respuestas (Beta).
> ¡Probalo ya!
> http://www.yahoo.com.ar/respuestas
>
> to unsubscribe, go to http://www.yahoogroups.com and follow the instructions
>
(You need to be a member of piclist -- send a blank email to piclist-subscribe@yahoogroups.com )
Re: Inverted Pendulum - Dennis Crawley - Aug 9 15:10:38 2006
dlc wrote:
> Looks like fun. Microchip does a demo like yours at the Masters
> conference that is all on the PIC. They use a shorter radius on a
> full circle track and a pot on the arm that can spin 360 degrees,
> looks a lot like yours, but no PC in the loop.
>
> DLC
Dennis,
Actually, is based on AN964!,
It has some differences:
1.- Signal from potentiometers are transmitted to the PC every 20ms, so you
can get the status and make some calculations and charts. The PC has
nothing to do with the loop. This model can operate stand-alone.
2.- The controller receives parameters Ki, Kd, Kp, and Kx(arm), "on the fly"
via RS232. It is very helpful to reach the optimal adjust of the loops.
3.- The arm in the AN964 has no control. This model has a PID controller for
pendulum, nested on a proportional controller for the arm. The control
acts over the pendulum stability and over the arm position. No free
spinning. When it recieves a hit its return to the set-point position
(,... or should return :))
The rest is more or less the same.
Regards and thanks for your replay
Dennis Crawley
Argentina
__________________________________________________
Preguntá. Respondé. Descubrí.
Todo lo que querías saber, y lo que ni imaginabas,
está en Yahoo! Respuestas (Beta).
¡Probalo ya!
http://www.yahoo.com.ar/respuestas
to unsubscribe, go to http://www.yahoogroups.com and follow the instructions
(You need to be a member of piclist -- send a blank email to piclist-subscribe@yahoogroups.com )
> Looks like fun. Microchip does a demo like yours at the Masters
> conference that is all on the PIC. They use a shorter radius on a
> full circle track and a pot on the arm that can spin 360 degrees,
> looks a lot like yours, but no PC in the loop.
>
> DLC
Dennis,
Actually, is based on AN964!,
It has some differences:
1.- Signal from potentiometers are transmitted to the PC every 20ms, so you
can get the status and make some calculations and charts. The PC has
nothing to do with the loop. This model can operate stand-alone.
2.- The controller receives parameters Ki, Kd, Kp, and Kx(arm), "on the fly"
via RS232. It is very helpful to reach the optimal adjust of the loops.
3.- The arm in the AN964 has no control. This model has a PID controller for
pendulum, nested on a proportional controller for the arm. The control
acts over the pendulum stability and over the arm position. No free
spinning. When it recieves a hit its return to the set-point position
(,... or should return :))
The rest is more or less the same.
Regards and thanks for your replay
Dennis Crawley
Argentina
__________________________________________________
Preguntá. Respondé. Descubrí.
Todo lo que querías saber, y lo que ni imaginabas,
está en Yahoo! Respuestas (Beta).
¡Probalo ya!
http://www.yahoo.com.ar/respuestas
to unsubscribe, go to http://www.yahoogroups.com and follow the instructions
(You need to be a member of piclist -- send a blank email to piclist-subscribe@yahoogroups.com )
Re: Inverted Pendulum - Dennis Clark - Aug 9 15:30:27 2006
Nice. The PC feedback is more of a crowd pleaser too. Well, for the
nerdy crowd anyway.
have fun,
DLC
Dennis Crawley wrote:
> dlc wrote:
>
>>Looks like fun. Microchip does a demo like yours at the Masters
>>conference that is all on the PIC. They use a shorter radius on a
>>full circle track and a pot on the arm that can spin 360 degrees,
>>looks a lot like yours, but no PC in the loop.
>>
>>DLC
> Dennis,
> Actually, is based on AN964!,
>
> It has some differences:
> 1.- Signal from potentiometers are transmitted to the PC every 20ms, so you
> can get the status and make some calculations and charts. The PC has
> nothing to do with the loop. This model can operate stand-alone.
>
> 2.- The controller receives parameters Ki, Kd, Kp, and Kx(arm), "on the fly"
> via RS232. It is very helpful to reach the optimal adjust of the loops.
>
> 3.- The arm in the AN964 has no control. This model has a PID controller for
> pendulum, nested on a proportional controller for the arm. The control
> acts over the pendulum stability and over the arm position. No free
> spinning. When it recieves a hit its return to the set-point position
> (,... or should return :))
>
> The rest is more or less the same.
> Regards and thanks for your replay
> Dennis Crawley
> Argentina
>
>
>
>
> __________________________________________________
> Preguntá. Respondé. Descubrí.
> Todo lo que querías saber, y lo que ni imaginabas,
> está en Yahoo! Respuestas (Beta).
> ¡Probalo ya!
> http://www.yahoo.com.ar/respuestas
>
> to unsubscribe, go to http://www.yahoogroups.com and follow the instructions
>
(You need to be a member of piclist -- send a blank email to piclist-subscribe@yahoogroups.com )
nerdy crowd anyway.
have fun,
DLC
Dennis Crawley wrote:
> dlc wrote:
>
>>Looks like fun. Microchip does a demo like yours at the Masters
>>conference that is all on the PIC. They use a shorter radius on a
>>full circle track and a pot on the arm that can spin 360 degrees,
>>looks a lot like yours, but no PC in the loop.
>>
>>DLC
> Dennis,
> Actually, is based on AN964!,
>
> It has some differences:
> 1.- Signal from potentiometers are transmitted to the PC every 20ms, so you
> can get the status and make some calculations and charts. The PC has
> nothing to do with the loop. This model can operate stand-alone.
>
> 2.- The controller receives parameters Ki, Kd, Kp, and Kx(arm), "on the fly"
> via RS232. It is very helpful to reach the optimal adjust of the loops.
>
> 3.- The arm in the AN964 has no control. This model has a PID controller for
> pendulum, nested on a proportional controller for the arm. The control
> acts over the pendulum stability and over the arm position. No free
> spinning. When it recieves a hit its return to the set-point position
> (,... or should return :))
>
> The rest is more or less the same.
> Regards and thanks for your replay
> Dennis Crawley
> Argentina
>
>
>
>
> __________________________________________________
> Preguntá. Respondé. Descubrí.
> Todo lo que querías saber, y lo que ni imaginabas,
> está en Yahoo! Respuestas (Beta).
> ¡Probalo ya!
> http://www.yahoo.com.ar/respuestas
>
> to unsubscribe, go to http://www.yahoogroups.com and follow the instructions
>
(You need to be a member of piclist -- send a blank email to piclist-subscribe@yahoogroups.com )