Differences

This shows you the differences between two versions of the page.

--- pneumatic_ip_tutorial [2016/02/21 19:38] – joaomatos
+++ pneumatic_ip_tutorial [2016/03/17 22:13] (current) – joaomatos
@@ Line 13: / Line 13: @@
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- **Overview:**This tutorial is an adaptation from Jiyue Hue tutorial , which is available here: [[http://dasl.mem.drexel.edu/~jiyueHe/pneumatic_inverted_pendulum/index.html|External Link]]
+ **Overview:**This tutorial is an adaptation from Jiyue Hue tutorial , which is available here: [[http://dasl.mem.drexel.edu/~jiyueHe/pneumatic_inverted_pendulum/index.html|Jiyue He from DASL-Drexel]]
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@@ Line 28: / Line 28: @@
 **Parts List and Source**
+ {{::parts_ip.jpg?direct|}}
+ {{:peri.jpg?direct|}}
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@@ Line 41: / Line 45: @@
 {{::flow_chart.png?direct|}}
+----
 **Construction**
+  *[[ip_const_circ|Circuit]]
+  *[[ip_const_fix|Fixing the model]]
+  *[[ip_const_sensor|Testing the encoders]]
+  *[[ip_const_pneumatic|Air compressor connections]]
+----
 **Modelling**
+  *[[ip_modelling| Modelling the inverted pendulum system]]
+----
 **Programming**
+  * [[ip_coding|Coding]]
+----
 **Final Words**
+{{youtube>ZF_OlTKOJ8w?medium}}
+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 ).