Project Nuthatch The Inverted Pendulum

1. Project NuthatchThe Inverted Pendulum November Program Review University of Portland School of Engineering

2. Overview • Milestones • Accomplishments • Project Plan Rev 1.0 • Design Tasks • Plans • Circuit Simulation and Implementation • Paperwork • Issues University of Portland School of Engineering

3. Milestones University of Portland School of Engineering

4. Accomplishments • Project Plan Rev 1.0 complete • Meeting with Industry Rep. and Advisor to discuss necessary changes to Rev 0.9 • Changes led to Rev 1.0 Approval • Feedback Diagrams are complete • All transfer functions are complete and integrated in our “classic” feedback diagram. University of Portland School of Engineering

5. Transfer Functions University of Portland School of Engineering

6. Feedback Diagram X(s) Qc(s) kpot K(s) M(s) G(s) kpot +/- Q(s) -1 University of Portland School of Engineering

7. Circuit Schematic University of Portland School of Engineering

8. Accomplishments, cont’d • We have obtained parts catalogs and ordered some components. • We have two different DC motors for testing and intelligent trial and error. • Circuit Schematic • We have the circuit schematic complete with the exception of some circuit component values University of Portland School of Engineering

9. Plans • Circuit Simulation • Helps us obtain “in the ballpark” circuit element values. • Circuit Construction • We must build a circuit and use intelligent trial and error to find correct component values. • Test for stability, frequency response, and range of inputs. University of Portland School of Engineering

10. Plans, cont’d • Paperwork • Budget plan completion • Schedule page on website • Meeting Minutes • Design Release University of Portland School of Engineering

11. Issues • DC motor parameters • No in-depth data sheets available • We must determine many variables experimentally. • Very difficult to accurately obtain. • Intelligent Trial and Error • We must have a “ballpark” figure for these variables and use trial and error to obtain the exact values University of Portland School of Engineering

12. Issues, cont’d • This changes our project plan • Only affects the order in which our tasks are completed • Changes have been submitted to Change Control • Time Management • A lot of paperwork is due this week, taking away from precious design time. University of Portland School of Engineering

13. Questions University of Portland School of Engineering