Final Project Introduction
Congratulations on reaching the end of the course! It's time to apply your skills to a final
project.
You will build and simulate a model of a self-stabilizing robot, modeled as an inverted
pendulum on a cart.
The robot's body, which can rotate about a pivot, will be modeled as a pendulum. The
body of the robot is attached to a moveable base. By adjusting the force applied to the
base of the robot, it’s possible to control the motion of the robot base in such a way as
to stabilize the robot's body in its upright position (θ=πθ=πtheta, equals, pi).
This stabilization problem is a classic control theory and engineering challenge, which is
often used to test control algorithms.
The equations of motion for the angle, θθtheta, and horizontal position, xxx, are:
mℓ2d2θdt2+mgℓsinθ+mℓcosθd2xdt2=0mℓ2dt2d2θ+mgℓsinθ+mℓcosθdt2d2x
=0m, ell, squared, start fraction, d, squared, theta, divided by, d, t, squared, end
fraction, plus, m, g, ell, sine, theta, plus, m, ell, cosine, theta, start fraction, d, squared,
x, divided by, d, t, squared, end fraction, equals, 0
(M+m)d2xdt2+bdxdt+mℓcosθd2θdt2−mℓsinθ(dθdt)2=F(M+m)dt2d2x+bdtdx
+mℓcosθdt2d2θ−mℓsinθ(dtdθ)2=Fleft parenthesis, M, plus, m, right parenthesis,
start fraction, d, squared, x, divided by, d, t, squared, end fraction, plus, b, start fraction,
d, x, divided by, d, t, end fraction, plus, m, ell, cosine, theta, start fraction, d, squared,
theta, divided by, d, t, squared, end fraction, minus, m, ell, sine, theta, left parenthesis,
start fraction, d, theta, divided by, d, t, end fraction, right parenthesis, squared, equals, F
Here, mmm is the mass of the robot body, ℓℓell is the length of the robot body, ggg is
the gravitational acceleration, MMM is the mass of the robot base, and bbb is a
damping coefficient representing friction. FFF is the force applied to the robot base,
which is a value that you will control.
The project involves four tasks:
1. Model the unforced Pendulum: You will create a Simulink model for an unforced
pendulum.
2. Model the forced Pendulum: You will edit your model from the previous task to
incorporate the force on the pendulum due to the cart.
3. Integrate into an Existing Model: Since the cart equation is more involved, we
will provide the model for you. You will integrate your forced pendulum model into a
system model along with the provided cart subsystem.
4. Implement a Controller: Finally, you will implement a control algorithm to apply
the necessary force to the cart, stabilizing the pendulum in the upright position.
At the end of each task, you will answer some quiz questions to ensure you're on track.
You must correctly answer every question in each task before proceeding to the next.
To get started, navigate to the M4/Final Project folder to access the project files.
Good luck!
Go to next item
Completed
