Week 1: 03-20 to 03-23
Pendubot
Progress report 1
1.
Recall of the objectives:
Do the schedule
Establish the list of the task
Schedule the tasks
Modelisation of the Pendubot
Define the parameters
Establish the equations
Validate the model
Get familiar with the equipment
Identify all the elements
Manage to communicate with the
Pendubot
Start the webpage
Do a description of the webpage
Start to build it
2.
Achieved work:
Establishment of the schedule and
the objectives of the week
Definition of the parameters
Determination of the non-linear
model
→
Computation of the equations
→ Validation of the model with
Simulink
Establishment of the control
strategy
We need
to linearize the model
Linearization of the model
→ Computations of the equations
→ Validation with Simulink
We
obtain similar results with the non-linear and the linear model
Implementation of the controllers
for the up-up and down-up positions
→ We
implemented a Matlab program that gives us the
coefficients of the feedback control loop for any position of the inner link. We
used a LQR controller. We are now able to stabilise the upper link in a
vertical position for every value of the angle of the inner link.
We validated those results with Simulink
simulations
First contact with the equipments
We manage
to communicate with the Pendubot. The data acquisition is working. We managed
to have access to all the state variable we need.
Description of the webpage and
beginning of implementation
3.
Problems:
No major problem this week
4.
Objectives of next week:
Now that we have implemented the controllers,
we would like to start the simulations on the real system. The main objective
will be to obtain the Labview version of our model.
5.
Global progress of
the project (Schedule’s update)
Conclusion:
The project is going very well. We didn’t have
so many big problems so far. The team is very motivated and we are planning to
do more team building activities soon.