This video presents swing up and balancing algorithm for an inverted pendulum system. Swing-up algorithm is based on calculating pendulum energy and adding it, until it reaches desired level. In order to balance the pole and keep cart in the middle of the track, 2 PID controllers were used. Control loop works with frequency set to 250Hz.

Crucial parts used in project:
Arduino Mega 2560
60W DC gearless motor 1600rpm
OMRON Incremental Encoder E6B2-CWZ6C 2000 p/r
Pololu 18v15 motor driver
For measuring cart displacement we used encoder which was built into motor (288 p/r)


Politechnika Białostocka Wydział Mechaniczny, odwrócone wahadło, arduino, regulator PID, Białystok, elektronika, sterowanie

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