Inverted Pendulum

Posted on Tuesday, March 30th, 2021

Client	Mauricio Ledon
Professor(s)	Mauricio Ledon,
Program
Students	Sam Armour Tri Oai Giang

Project Description:

Our team was tasked with creating the inverted pendulum and the required components to control it. The main idea of our mechanical design is to have the pendulum attached to an encoder. The pendulum is a cart which is on a rail and can be moved by our stepper motor. To ensure the cart does not move too far one way and off the design, we have a sensor placed on each end of the design.

These components which make up our design are controlled by an Arduino Mega. As the pendulum moves one way the encoder will measure this and the Arduino code will move the cart accordingly by moving the stepper motor in the correct direction and speed to correct this. If either of the sensor sense the cart, the Arduino code is set to turn the motor driver off thus shutting down the operation. These electrical components have all been soldered into our printed PCB of our electrical circuit.

The key components of our design consist of;
Stepper motor: NEMA17
Motor driver: L298N
Microcontroller: Arduino Mega
Sensor: Optical sensor
Angle measurement: Rotary Encoder

Short Description:

We have created the mechanical design for the inverted pendulum. This design is controlled by our electrical design which has been printed on a PCB. These electrical components are controlled and manipulated by the Arduino Mega for our design.

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