{"id":201,"date":"2010-05-03T22:12:56","date_gmt":"2010-05-04T02:12:56","guid":{"rendered":"http:\/\/ammonsengineering.com\/blog\/2010\/05\/simulation-works-well\/"},"modified":"2010-05-03T22:21:39","modified_gmt":"2010-05-04T02:21:39","slug":"simulation-works-well","status":"publish","type":"post","link":"https:\/\/ammonsengineering.com\/blog\/2010\/05\/simulation-works-well\/","title":{"rendered":"Simulation works well"},"content":{"rendered":"<p>I used the cart and pendulum models to update a pendulum simulation program I developed long before I started building the pendulum.\u00a0 I changed the equations to use PWM instead of force, and modified the control algorithms to match.<\/p>\n<p>The simulation works pretty well.\u00a0 I can swing up the pendulum pretty quickly and maintain the inverted pendulum.\u00a0 I am not going to share any of my algorithms at this point since I plan on running a competition to design the best algorithm.\u00a0 Wouldn&#8217;t want to make it too easy, would I?<\/p>\n<p>I will share that I started with PID algorithms to maintain the inverted pendulum, but there was a lot of wobble.\u00a0 The pendulum would sway back and forth several times before settling into the correct position.\u00a0 I switched to state space control, and it works much better.\u00a0 The pendulum immediately moves to the right place with no sway or wobble.\u00a0 It is the control method I would recommend.\u00a0 I am still learning how to optimize the method, though.<\/p>\n<p>Now I just need to verify my models by collecting some more data from the actual system, then I will try my pendulum inversion algorithm on the actual system.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>I used the cart and pendulum models to update a pendulum simulation program I developed long before I started building the pendulum.\u00a0 I changed the equations to use PWM instead of force, and modified the control algorithms to match. The simulation works pretty well.\u00a0 I can swing up the pendulum pretty quickly and maintain the [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[],"class_list":["post-201","post","type-post","status-publish","format-standard","hentry","category-software"],"_links":{"self":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts\/201","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/comments?post=201"}],"version-history":[{"count":2,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts\/201\/revisions"}],"predecessor-version":[{"id":202,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts\/201\/revisions\/202"}],"wp:attachment":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/media?parent=201"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/categories?post=201"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/tags?post=201"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}