Simple inverted pendulum model

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Simple inverted pendulum model
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Simple inverted pendulum with force input
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PID Controller
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Microcontroller

• MSP430F1611
• 16 bit RISC processor
• 48kB Flash
• 10kB RAM
• 12 bit A/D with 8 pin-accessible inputs
• Two 16 bit timers
• 1.8-3.6v

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Inertial Measurement Unit

• IDG-300Gyroscope
• ADXL-330Accelerometer

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IDG-300 Gyroscope

• Dual-Axis rate gyroscope
• Operates by oscillating masses and capacitively
  measuring vibration caused by Coriolis effect.
• Sensitivity 2 mV//s
• Max rate 500 /s
• Operating voltage 3.0-3.3v

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ADXL-330 Accelerometer

• Triple-axis accelerometer
• Micro-machined structure suspended over silicon
  by polysilicon springs. Plates mounted on moving
  structure and a fixed structure act as a variable
  capacitor in a filter circuit to measure
  acceleration.
• Sensitivity 300mV/g
• Max acceleration 3.0g
• Operating voltage 2.0-3.6v (sensitivity is
  ratiometric)?

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Estimating pendulum orientation

• Integrating rate gyros subject to drift.
• Accelerometers only work when stationary.
• Use both estimates to get better estimate of
  orientation.

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Bluetooth Module

• Basically a breakout board for NXP's BGB203.
• Class 1 so has a 100m range
• 100 mW max transmitted power
• 3.3 volts
• 1 Mbps max UART

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H-Bridge

• LMD-18200
• 3 amps continuous, 6 amps temporary

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H-BridgeDirection Control

• Forward
• Reverse
• Brake
• Short Circuit

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H-BridgeAmplitude Control