![]() ![]() The length of the rod has a direct effect on the motion of the whole design, because the centre of mass changes with the length of the rod, thus resulting in the change of the dynamics of our desired mechanical design.Ī focus was placing the pendulum precisely in the middle of the cart in order to focus the centre of mass in the middle of the design to aid in reaching equilibrium. The total length of the rod was measured to be about 35.6 cm, however, when getting to the resolving of equations, only half the length of the rod will be used, which is about 17.8 cm. The total mass of our final design was found to be about 770 grams, including all components added, wires, wheels, etc. For the pendulum to keep in the upright position, a pendulum head was attached to the top of the rod to try to control it and prevent it from moving back and forth, thus resulting in equilibrium. The design shown below is based on the LEGO-Mindstorm EV3, and is a simple cart with two driving wheels, two fixed wheels at the bottom of it, and a pendulum attached to the top part of the cart in order to stabilise the system and help it reach equilibrium. Inverted pendulum efficiently and effectively the PID control strategy is used. The inverted pendulum system is unstable, complicated and non-linear. Control of an inverted pendulum using PID. ![]()
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