DESIGN, FABRICATION AND CONTROL OF A LINEAR INVERTED PENDULUM TRAINER

Project Title

Project Area of Specialization

Mechatronics Engineering

Project Summary

Inverted pendulum trainer is extensively utilized in academia to teach the fundamental concepts of system modeling and control. The purpose of this project is to indigenously design and develop a cost-effective inverted control pendulum trainer. The system will utilize the state of art sensors optical encoder sensors for positional feedback of the pendulum. The control system will be implemented on the latest ARM microprocessors. The system will be designed to operate in standalone mode or interface with a PC for real-time data monitoring and interfacing. The system will be equipped with a touch panel for real-time parameters display and user interaction

Project Objectives

The main objectives of this project are:

Inverted Pendulum Modeling and Simulation
Interfacing with Optical/Magnetic Encoders
Interfacing with Graphics LCD and Touch Panel
Bi-directional DC motor control
Implementation of PID controller
Design of PC based Graphics User Interface (GUI)
GUI Design for standalone operation

Project Implementation Method

The project implementation involves the following steps:

Inverted Pendulum Modeling and Simulation
Implementation of Bi-directional DC Motor Control
DC Motor Speed and Position Measurement
Inverted Pendulum Position Measurement
Implementation of PID controller ARM microcontroller
Development and Testing of PC Based GUI
Development of standalone along GUI based on Touch Panel Display
System Integration and Testing

Benefits of the Project

The indigenous development of the inverted pendulum trainer will remove the dependence of academia on imported training systems which are expensive resulting in substantial budget/cost savings. The modular design and the ability to operate in standalone mode is an added benefit that will result in a truly portable training system.

Technical Details of Final Deliverable

The developed system will consist of a cart with a pendulum and optical/magnetic encoder. A brushed DC motor with an Optical/Magnetic encoder will drive the cart and pendulum assembly through a belt and pulley system. The Electronic part of the system will consist of the main processor board which will control the DC motor through an H-bridge. A Graphics LCD with a touch panel will allow the user to interact with the system through a GUI. Additionally, a PC based GUI will also be provided as the necessary software for interfacing with the system.

Final Deliverable of the Project

HW/SW integrated system

Core Industry

Education

Other Industries

Manufacturing

Core Technology

Robotics

Other Technologies

Artificial Intelligence(AI)

Sustainable Development Goals

Quality Education

Required Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
Optical Encoder	Equipment	4	3000	12000
H-bridge	Equipment	3	5000	15000
Motor	Equipment	4	2000	8000
LCD	Equipment	2	2000	4000
LCD with touch panel	Equipment	2	6000	12000
cart	Equipment	2	1000	2000
pendulum rod	Equipment	1	1000	1000
Arm microcontroller	Equipment	1	3000	3000
resistors	Miscellaneous	20	2	40
regulators	Miscellaneous	5	50	250
vero board	Miscellaneous	2	200	400
PCB	Miscellaneous	2	500	1000
capacitors	Miscellaneous	15	20	300
Dc motor	Miscellaneous	4	250	1000
belt	Equipment	4	500	2000
pulley	Equipment	4	1000	4000
wheels	Miscellaneous	12	500	6000
hardware	Equipment	1	4999	4999
			Total in (Rs)	76989