Inverted Pendulum Balancer
The goal of this project was to build and implement an inverted pendulum balancer based on microcontroller, in the vertical two dimensional plane, using Proportional-Integral-Derivative (PID) feedback control.
The project uses radio controlled car which has been modified by adding a plexiglass platform and an inverted pendulum with free rotating pivot. The main components of the balancer are Atmel ATMega32 microcontroller as computational hardware, US digital optical shaft encoder as input angle sensor, and National Semiconductor LMD18200 H-Bridge as output motor driver. All these components are brought together onto a single board whose sole purpose is to autonomously control the motion of the car in order to keep the pendulum from falling.
“Once the unstable pendulum was assembled and mounted on the car, an electrical circuit accept information from the optical encoder, process the information, and then control the vehicle in forward and reverse motion”, said Eitan Sherer & Kenji Hashimoto, project designer.
AVR Pendulum Balancer
Project Firmware, Schematic and Documentation
cornell.edu
