WEEK 01

I'm still waiting for all the parts that were ordered online . So i used this week to finish all the theoretical derivation and to study more about how the system works. I will already post what i finish on the tutorial page.

• Overview : how the system works.
• Transfer Function Derivation .
• Control Method (PD).
• Estimating Gains Using LQR.

WEEK 02

• Started to sketch the assembly when all the parts got in the lab.I had some trouble in what to use for the pendulum ( the pendulum from the original project was not on the lab). Once i got the pendulum ( 1/2in steel bar ) i had to figure out a way to fix the bar into the rotational encoder ( i'm waiting a friend print a support on a 3d printer for me ).
• Started to build the circuit.

WEEK 03

• Assembled the model on the wood
• Tested the encoders connection with the arduino and the readings.
• Tested the DAC and the Arduino Connection - digital input have to give the exact desired voltage output at the operational amplifier.
• Started to post the tutorial steps.

PROBLEMS ON WEEK 3

Fixing the rotational encoder on the cart: I'm having trouble in how to fix the rotational encoder into the cart (I'm using the cart from the original project , but the rotational encoder that came in the same box of the other parts is not the same from the tutorial ( I have the s5 sensor , with bearing (it does not fit on the hole of the cart ).

Voltage output at the proportional valve: I'm having trouble on the voltage output.Even if i change the digital value on the arduino code , the voltage at the proportional valve still at 8,4 V (it is expected the voltage to change from 0 to 10V when changing the digital input value at the arduino code). I rebuilt the circuit changing the operational AMP , DAC and all the resistances, but i still having trouble in controlling the voltage output to the proportional valve. I'm using the same Arduino code from the original project , and the DAC is the same also (so the problem is not the DAC connection with the arduino). The problem can be the decimal to binary function on the code , that i'm trying to re-write.

NEXT STEPS

To finish all the building:

• Fix the voltage at the proportional valve problem.
• Figure out a way to fix the sensor into the original cart.

And after:

• Adjust the gains on the arduino code until the balance is good enough

WEEK 04

• The problem of the voltage at the proportional valve was solved.

• The connector that i printed broke and i will print another one.