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By: Omer Mohamed Ebrahim Sharif Advisor: Professor Natarajan

INVERTED PENDULUM. By: Omer Mohamed Ebrahim Sharif Advisor: Professor Natarajan. Inverted Pendulum. Mass over its pivot point. Unstable Must be actively balanced in order to stay upward. by applying a torque at the pivot point by moving the pivot point horizontally. Overview.

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By: Omer Mohamed Ebrahim Sharif Advisor: Professor Natarajan

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  1. INVERTED PENDULUM By: Omer Mohamed Ebrahim Sharif Advisor: Professor Natarajan

  2. Inverted Pendulum • Mass over its pivot point. • Unstable • Must be actively balanced in order to stay upward. • by applying a torque at the pivot point • by moving the pivot point horizontally

  3. Overview • Single Joint • Stationary • Applying a torque at the pivot point

  4. Subsystem • Omer: • Hardware • Power Electronics • H- Bridge • Motor testing • Ebrahim: • Software • PIC • Programming • Sensors

  5. Block Diagram Micro- Processor Power Electronic Motor Pendulum X Y Sensors detects the movement of the Pendulum. Report position to the Microprocessor. Microprocessor controls the Motor. Motor balances the pendulum.

  6. Pendulum • Two Feet long • Connected to a smaller Pole • Ball Bearing Joint • Smaller Pole controlled by the motor • Type of wood: Basswood • Strong and light

  7. PIC Microprocessor • PIC16F690 • ECE 4951 • Wide Operating Voltage Range (2.0V-5.5V) • 10-bit PWM with 1, 2 or 4 output channels, max frequency 20 kHz • A/D Converter

  8. Software: • PICKit 2 Programmer • C Language • MikroC Compiler

  9. Sensor • MMA7361L • Three Axis Low-g Micromachined Accelerometer

  10. Sensor’s Features • Low Current Consumption: 400 uA • Low Voltage Operation: 2.2 V – 3.6 V • Fast Turn On Time (0.5 ms Enable Response Time) • High Sensitivity (800 mV/g @ 1.5g) • Signal conditioning with low pass filter • Low Cost

  11. Sensor’s Outputs at 3.3V

  12. Program Block Diagram

  13. Sensor’s Connections • 0.1 μF capacitor on Vdd to decouple the power source. • 3.3nF capacitor on the outputs of the accelerometer to minimize clock noise

  14. Sensor to Microprocessor • A/D converter

  15. Electric Motor • GH12-1634T • Operating Voltage: 4.5 – 12 V • Current : 293 mA • Speed: 145 RPM • Torque: 850 g-cm

  16. H-Driver • PIC provides low current (20mA). • SN75441ONE H-Bridge motor driver. • 1-A Output-Current Capability Per Driver

  17. Final Circuit Design

  18. Cost of Components Total Cost = $ 88.74

  19. Acknowledgements • Professor Natarajan - Advising • Professor Miller - Advising • Jesse Cross – Additional equipments • Intelligence Club – Lab use

  20. QUESTIONS?

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