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pneumatic_ip_tutorial [2016/03/17 22:05]
joaomatos
pneumatic_ip_tutorial [2016/03/17 22:13] (current)
joaomatos
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 **Final Words** **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: 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 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 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 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 ยท Last modified: 2016/03/17 22:13 by joaomatos