- #1
PickyBiker
- 12
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- TL;DR Summary
- I have built a system for balancing an inverted pendulum on a cart. It has a 1 meter rail with a moving cart driven by a stepper motor with a pendulum hinged on the cart. It uses optical encoders to determine the pendulum angle and the cart position. To start, the pendulum is manually inverted. Computer balancing does not begin until the pendulum is almost vertical. (at this point it doesn’t balance well at all)
I am using the Stanford “Dynamics: Inverted pendulum on a cart” document, https://web.stanford.edu/class/me161/documents/InvertedPendulumOnCartSolution.pdf, as the basis for the Arduino c code.
I need help with the term Fc (Feedback force on the cart A) because the motor I’m using is a stepper. A stepper has a a largely fixed force and a variable speed. I need to change “something” in the formulas so Fc is actually the desired speed of the cart not the force on it and I don’t know how to do that.
The attached help.xlsx file has the parameters defined in the Stanford document shown with the particular values for my implementation. For calculated values the C code I use is listed. It also has the reference drawing for the system.
There will no doubt be other questions, but I have been stuck on this force vs speed problem for a while. Can someone help me to understand what needs to change?
I need help with the term Fc (Feedback force on the cart A) because the motor I’m using is a stepper. A stepper has a a largely fixed force and a variable speed. I need to change “something” in the formulas so Fc is actually the desired speed of the cart not the force on it and I don’t know how to do that.
The attached help.xlsx file has the parameters defined in the Stanford document shown with the particular values for my implementation. For calculated values the C code I use is listed. It also has the reference drawing for the system.
There will no doubt be other questions, but I have been stuck on this force vs speed problem for a while. Can someone help me to understand what needs to change?