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Control of an Inverted Pendulum

Rick Egeland, Kevin Renna


Advisors: Kurt Wick and Paul Crowell

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Outline
Motivation of project, ideas
Theory, control method
Complications
Success
Conclusion

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Motivation
Wanted to study neural networks

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Motivation
Wanted to study neural networks
Broomstick Balancer: An important control
problem. Balancing an inverted pendulum or
broomstick is an essential task in the design of
battlefield robots, for example. Input can be speed
and acceleration of the pendulum, output the new
position of the base of the inverted pendulum
- Phillipe De Wilde
Neural Network Models: An Analysis

Control of an Inverted Pendulum p.3/11

Motivation
Wanted to study neural networks
Broomstick Balancer: An important control
problem. Balancing an inverted pendulum or
broomstick is an essential task in the design of
battlefield robots, for example. Input can be speed
and acceleration of the pendulum, output the new
position of the base of the inverted pendulum

- Phillipe De Wilde
Neural Network Models: An Analysis

Need a working apparatus before we can


implement a Neural Network

Control of an Inverted Pendulum p.3/11

Motivation
Wanted to study neural networks
Broomstick Balancer: An important control
problem. Balancing an inverted pendulum or
broomstick is an essential task in the design of
battlefield robots, for example. Input can be speed
and acceleration of the pendulum, output the new
position of the base of the inverted pendulum

- Phillipe De Wilde
Neural Network Models: An Analysis

Need a working apparatus before we can


implement a Neural Network
Proportional integral (PI) Method was used

Control of an Inverted Pendulum p.3/11

Feedback Systems
Output: Some change to the system

SYSTEM

Control Algorithm

Input: System State

Applications: Balance, rockets, industrial uses,


chemical reactions

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Our Apparatus

Want a only a 2D
problem
Linear setup vs.
rotational setup

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Our Apparatus
5V
Input: Voltage

DAQ Card

Pendulum

Computer

Potentiometer

Control Algorithm

Motor

Output Motor Pulse Frequency

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Our Apparatus

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Pendulum Physics

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Pendulum Physics

Accelerating base

on c.m. of pendulum

Control of an Inverted Pendulum p.6/11

Pendulum Physics

on c.m. of pendulum

Accelerating base

Control of an Inverted Pendulum p.6/11

Pendulum Physics

on c.m. of pendulum

Accelerating base

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Control Method

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Ansatz:

Control Method

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Ansatz:

Control Method

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Control Method

Ansatz:

This is why it is called the PI method

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Complications

Limited motor torque

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Complications

Failures at high torque demand

Control of an Inverted Pendulum p.8/11

Complications

Digital noise

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Complications

Quantized motor speeds

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Complications

Quantized motor speeds

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Success
Longest Trial

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Success
Parameter Data

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Behavior
Falling

k too low

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Behavior
Overdrive

k too high?

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Behavior
Fast Oscillations

k too high?

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Behavior
Oscillations

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Behavior
Just Giving Up

Its the motors fault

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Conclusion
Algorithm seems to work, but not consistently
Problems could lie in apparatus
Need something to compare data to, simulation

Control of an Inverted Pendulum p.11/11

Conclusion
Algorithm seems to work, but not consistently
Problems could lie in apparatus
Need something to compare data to, simulation
The first steps towards battlefield robots have
been fun!

Control of an Inverted Pendulum p.11/11

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