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pneumatic_ip_tutorial [2016/03/13 00:38] joaomatospneumatic_ip_tutorial [2016/03/17 22:13] (current) joaomatos
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 **Final Words** **Final Words**
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 +{{youtube>ZF_OlTKOJ8w?medium}}
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 +Original project working: [[http://dasl.mem.drexel.edu/~jiyueHe/pneumatic_inverted_pendulum/index.html]]
 +
 +As the original tutorial related , the system's performance is not very good. Can be pointed:
 +  * The Arduino cannot read accurately the counts of the rotational encoder after about 10 seconds (even if the pendulum returns to the equilibrium position , after a while , this equilibrium position will not give 0 as angle , consequently the PD equation will calculate the necessary input in the proportional valve as something different than 5,1V ( voltage that makes no air flow in the valve )
 +  * The Arduino cannot modify 8 ports at the same time to send the binary input to the DAC , so the calculated value by the PD equation will not be the same as the value on the input of the proportional valve. (The best choice is to use a DAC with an I2C or SPI interface)
 +  * The travel distance of the air cylinder is very short , very often the pendulum will loose control and the air cylinder will not have enough travel distance to reestablish the balance. ( that's why you always have to be taking care of the pendulum to not let it balance too much ).
pneumatic_ip_tutorial.txt · Last modified: 2016/03/17 22:13 by joaomatos