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2010_Inverted Pendulum_梁壹善

2010_Inverted Pendulum_梁壹善

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Published by em330

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Categories:Types, School Work
Published by: em330 on Aug 02, 2010
Copyright:Attribution Non-commercial

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04/24/2014

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Software PID Control of an InvertedSoftware PID Control of an InvertedPendulum Using the PIC16F684Pendulum Using the PIC16F684
2010/7/28 1
 
INTRODUCTIONINTRODUCTION
y
The purpose of this application note is to describe how aPIC16F684 can be used to implement a positionalProportional-Integral-Derivative (PID) feedback control in aninherently unstable system.
y
The inverted pendulum consists of three main parts: the base platform, the pendulum and the controller board
2010/7/28 2
 
BA
SE PL
A
TFORM
BA
SE PL
A
TFORM
((

))
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The base platform is a 3-point platform, 2 wheels (one of which is geared and attached to a DC motor) and an audio jack. When the DC motor is turned on, the base platform willrotate around in a circle with the center of the axis of rotation being the audio jack.
2010/7/28 3

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