Swing-up control of a double inverted pendulum.
2단 도립진자의 swing-up control 실험을 보여주는 영상입니다. 2단 도립진자는 성진테크윈과 인하대학교의 Embedded Control Lab의 공동연구를 통해 개발되었습니다. 2단 도립진자는 4개의 평형점(down-down, up-down, down-up, up-up)을 가지고 있습니다. 이 영상에서는 4개의 평형점간에 발생할 수 있는 12가지 이동에 대한 제어를 수행하고 있읍니다. 제어 주기는 1 [ms] 입니다. 제어 알고리즘은 성진테크윈에서 개발한 LW-RCP (Rapid control prototyping) 장치와 Simulink를 이용하여 설계되었습니다.
This is the demonstration video of the swing-up control of the double inverted pendulum co-developed by SungJin Techwin and Embedded Control Lab of Inha University. Double inverted pendulum has 4 equilibrium points (down-down, up-down, down-up, and up-up). This video shows all possible 12 transitions between 4 equilibrium points. Sampling time is 1 [ms]. Control is performed by Simulink and LW-RCP unit, which is a rapid control prototyping system developed by Sungjin Techwin.
How did you mount the wiring to the second encoder so the wire would not get caught while rotating? Are you using incremental or absolute encoders?
Do you have any english documentation on the algorithm for the swing up, or do you have any references I could read? I'd really love to build my own double pendulum!
GG
Compared to the triple inverted pendulum, this looks tame af
could you tell me, What kind of motor did you use for the project, the amount of voltage, and RBM? please
We used a BLDC motor. Rated voltage is 24 volt. Rated rpm is around 3600~4000.