I couldn’t wait to blog this one, so sleep will wait a little longer.<\/p>\n
I recalculated the gains using a less aggressive setting, and came up with coefficients that are about an order of magnitude smaller.\u00a0 In the simulation, things move a little slower but everything runs very smoothly.\u00a0 The transition between swingup and a stable inverted pendulum looks a lot smoother also.\u00a0 I also fixed the issues in the control algorithm from yesterday.<\/p>\n
I tried out the new stuff on the real hardware.\u00a0 First I tried moving from one position to another while hanging.\u00a0 It moves less smoothly than the simulation (kind of jerky), but it gets there and keeps the pendulum from swinging.\u00a0 Then I tried inverting the pendulum… (drum roll, please) and it worked great!\u00a0 The swingup didn’t quite get it all the way up, so I had to tweak the algorithm a little bit.\u00a0 Once it was inverted, it did a really good job of keeping it inverted.\u00a0 I can tell it to move to different positions, and it keeps it inverted while moving to those positions.\u00a0 I also tried tapping the pendulum lightly with my finger, and it\u00a0recovered nicely.\u00a0 It is a little slow and kind of jerky, but it is still a success and a great second try.<\/p>\n
The cart tends to oscillate while balancing the pendulum.\u00a0 It isn’t very large, and I guess it is to be expected.\u00a0 Every now and then, the cart stops completely and the pendulum stays balanced for a second or two, then it starts to fall and the cart zigs out to keep it upright.\u00a0 When the set screw is tight, the cart oscillates less.<\/p>\n
One of my big problems right now is the set screw.\u00a0 I haven’t done anything about it yet, so it keeps coming lose after running for about a minute.\u00a0 Right now I just tighten it back up and restart the system.\u00a0 I really need to decide how to keep it in place and do it.\u00a0 If I don’t, I am going to shred all the pieces of shim foil that I have.\u00a0 I would feel silly if I had to go ask for more foil again.<\/p>\n
I also want to work on the gains.\u00a0 I plan on gradually increasing the gains (and system speed) until I reach the limits of the system.\u00a0 I am just happy I have something that works\u00a0at the moment.<\/p>\n","protected":false},"excerpt":{"rendered":"
I couldn’t wait to blog this one, so sleep will wait a little longer. I recalculated the gains using a less aggressive setting, and came up with coefficients that are about an order of magnitude smaller.\u00a0 In the simulation, things move a little slower but everything runs very smoothly.\u00a0 The transition between swingup and a […]<\/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-205","post","type-post","status-publish","format-standard","hentry","category-software"],"_links":{"self":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts\/205","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=205"}],"version-history":[{"count":0,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/posts\/205\/revisions"}],"wp:attachment":[{"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/media?parent=205"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/categories?post=205"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ammonsengineering.com\/blog\/wp-json\/wp\/v2\/tags?post=205"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}