Inverted pendulum system with the Pico 2 microcontroller
I made an inverted pendulum system a freely swinging pendulum has to stay balanced above its pivot point while also keeping the cart centered. This cart also has to swing the pendulum up from a downward position. I am thinking of making a pdf or something like that so maybe others can make it but not really sure how to structure it as it involves quite alot of maths? Anyways if you have any questions do let me know thank you for visiting!
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FYI: The control strategy used is called a Linear Quadratic Regulator, another common control strategy you may have heard of is PID but idk how to do that so yeah
Oh wow I actually forgot I even asked the question here haha I would have updated that with this video.
And yea it took me 3 months and alot of hair pulling to get right, the main problem for me was that the available resources online did not really tell me the entire process from A-Z so there were holes which I could not fill. Luckily, I had the help of the controls engineering discord who helped me fill in the holes and guided me along the way. Hopefully i can help others in this server if they ever wanted to recreate this project
Yo that’s sick man!
Thanks mate
I managed to update it with button controls and a longer rail so the swing up isnt touching the rails and hurting itself. I also used linear rails instead of V-Wheels as it was more sturdy but when compared the linear rails has more friction. (I uploaded it on yt cause its too big for discord)
https://youtu.be/xbUQ7HF-oQM?si=gY07opSxjWMycAos