AME 30315 Pendulum Project
From Bill Goodwine's Wiki
Introduction
In this project you will design a feedback controller to stabilize an inverted pendulum. The basic steps are:
- system identification,
- controller design,
- implementation and verification.
The first and third steps require that you be able to program a microcontroller. The second step requires that you understand the course material.
The System
The pendulum and controller are shown in the figure on the right. It is comprised of
- the pendulum,
- a d.c. motor with optical encoder,
- an H-bridge current controller (the device with the heat sinks),
- a Freescale 68hc11 8-bit microcontroller with peripherals, and
- a usb-port logic analyzer.
The microcontroller is very inexpensive and has limited capability, as is realistic in industry where component costs are of significant importance.
You will need to use one of the desktop computers in XXXXX Stinson-Remick. Those computers should have the following software installed:
- the 68hc11 port of the gcc compiler (look in xxxxxxx)
- putty, to be able to communicate with the microcontroller over the serial port
- notepadd++, for editing your programs
- the logic analyzer (????), whi
