Differences

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--- lego_rip [2017/05/19 16:18] – [NXC code for LEGO NXT Brick] sangsinpark
+++ lego_rip [2017/06/15 10:10] (current) – [NXC code for LEGO NXT Brick] sangsinpark
@@ Line 8: / Line 8: @@
 **Date:** Last modified on 05/19/2017
 \\
-**Keywords:** RIP
+**Keywords:** Rotary inverted pendulum, LEGO brick, and NXC
 \\
@@ Line 36: / Line 36: @@
 {{ lego_rip_v2:rip_equ2.jpg }}
 \\
-  * HW. Derive the kinetic energy.
+  * **HW.** Derive the kinetic energy.
 And the potential energy of the system is
 {{ lego_rip_v2:rip_equ3.jpg }}
@@ Line 53: / Line 53: @@
 {{ lego_rip_v2:rip_equ7.jpg }}
 \\
-  * HW. Linearize the above nonlinear equations by Taylor expansion.
+  * **HW.** Linearize the above nonlinear equations by Taylor expansion.
 For state-space representation, the equations are reconstructed.
 {{ lego_rip_v2:rip_equ8.jpg }}
@@ Line 70: / Line 70: @@
 {{ lego_rip_v2:rip_equ11.jpg }}
 \\
+  * **HW.** Derive a transfer function assuming that an output, y, is a α.
 ===== Full state feedback control =====
@@ Line 88: / Line 88: @@
 ===== LQR for the gains =====
 ==== Matlab Code ====
-<code>
+<code java>
 clear, clc, close all
@@ Line 151: / Line 151: @@
 float d_Pdeg = 0.0;
 float M_errSum = 0.0;
-float sum_swingU = 0.0;
-float prev_xc1 = 0.0;
-float prev_xc2 = 0.0;
-float est_Mvel = 0.0;
-float est_Pvel = 0.0;
 char controlU = 0;
@@ Line 166: / Line 161: @@
 {
    float error = refRad - Mrad;
-   float U = PGain*error + IGain*M_errSum + DGain*d_Mrad;
+   float U = PGain*error + IGain*M_errSum - DGain*d_Mrad;
    if(U > FULL_SPEED)
@@ Line 241: / Line 236: @@
 task BalanceControl()
 {
-   // A physical motor rotation direction is reversed as model's rotation direction.
+   // A physical motor rotation direction is reversed as a model's rotation direction.
    float Gm_p = -(-7.07106781265702);     //Gain on Motor Position
    float Gp_p = -361.604865668371;        //Gain on Pendulum Position