Lego, Raspberry and Python Project - Reaction Wheel Inverted Pendulum
4,105,388
Published 2022-04-16
This thing is inherently unstable and a common challenge in control theory.
The mechanical structure is built using only Lego parts.
Motor is also Lego. Angle sensor and electronics are not Lego.
Enjoy!
00:00 platform
00:27 inertial measurement unit
02:39 motor driver
04:08 PID controller
07:10 tachometer
10:26 rise up sequence
10:57 the final result
13:06 change parts and parameters to see how they affect performance
18:32 specs (including python code)
PARTS:
Raspberry Pi Zero 2 W
OKYSTAR TB6612FNG motor driver
Elecrow SM9250MPU 9DOF IMU
Lego EV3 Medium Servo motor [45503]
Lego PF Rechargeable Battery Box [8878]
Lego Gear Rack 11 x 11 Curved [24121]
CODE:
mega.nz/folder/h6Y2EYwQ#t1s6ihP5UcFOJb5QGhX1Ww
or
www.dropbox.com/sh/pem1mbpp82pbgwz/AAAc5Uqdah6dsNd…
All Comments (21)
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Ah yes, PID loop refining. The true "Try some numbers and see" of engineering
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so cool to see you branch out the skills you apply on this channel, amazing work!
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I personally learned more in this "one cup of tea" episode then I would ever do so on the PID matter during my entire engineering course. Outstanding job!!
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5:00 PID controller values : usually you set the P and D constants first, and end up with I part. The integral part is useful when current angle lags behind target, not for overall stability.
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I'm really impressed by Your skills. You are lego designer, physicist, programmer and electronics engineer. Thanks for the effort You put into Your videos, good luck in future experiments!
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You've made some pretty cool things for your channel, but this one is by far the best one. Excellent work!
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My favorite part was when the wheel spun.
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Absolutely loved that iterative engineering process, it was therapeutic
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Instead of switching the target angle at a fixed frequency to avoid saturation, run a slower feedback loop that adjusts target angle as a function of motor acceleration. Essentially get it to search for a target angle where it doesn't need to accelerate. You could probably get it completely stationary that way.
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Nicely done! I particularly appreciate how you documented everything at the end, so anyone could replicate your work and build on it. Thanks!
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This channel just constantly ups the game. My jaw dropped multiple times throughout the video. It's more than just engineering, this is art. BRAVO 👏👏👏
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this is so cool!! we need more videos like this that show the building/coding/tuning process all in one. makes projects like this way less intimidating for people just starting out!
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I've had a similar prodgect in class ( the name was "ball and plate", a stabilized ball on a touch panel) and I love how we spend litteraly 10 hours on a precise calculus of the value of kp ki and kd (modelize thé forces and momentum etc...) when you simply Made it step-by-step lol Super great video btw
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I love the testing method of "hit it with a bottle"
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Watching the code evolve was a good insight into programming. Very cool.
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It's really, really nice seeing how well documented this is. I really want to build this myself now.
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My favorite lego building youtuber is back! Got my morning coffee with me and ready to enjoy your builds!
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If you want more precision. You could use 2 wheel instead of 1. 1 for clockwise and 1 for count clockwise. Meaning the wheels keep going in the same directions and less jerking back and forth. As less accelaration is needed.
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Screw learning at a school or online I’m just gonna watch this guy
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This was amazing to watch, the whole thing is just sooooo cool! I loved seeing you experiment with the different configurations. The target angle curve reminds me of a sine approximation of a square wave
