Group II - meetings and results
Meeting 2 - 18-02-2010
Van Rooijen, hier graag je uitleg over de structuur zoals vandaag besproken. Tnx
17 - 03 - 2010
We got the down-up position controlled using a simple PD controller. We used the following signal as error signal.
((ys(1) + ys(2)) - 2.64) + 0.2*(ys(1) - 0)
Here ys(1)-ys(2) is the angle between pendulum and earth horizontal level. And 2.64 is the required value of ys(1) + ys(2) when pendulum is perpendicular to earth horizontal level. The second term ys(1) is the angle of arm. It should be zero for it to be perpendicular to earth horizontal line. And 0.2 is the weight of arm angle. And it works well. Also it's able to bring it back to stability even if pushed by finger or blown air etc