Week 2:
03-27 to 03-31
Pendubot
Progress report 2
1. Recall of the objectives:
Do the simulations to find the
parameters of the Pendubot
Swing-up control
Implementation
of the Swing-up control
Simulink
validation
Up-up and down-up control
Finish
the implementation with Labview
Try
to simulate
Update the website
2. Achieved work:
The web site is updated
Do the simulations to find the
parameters of the Pendubot
Measurement
of the weights, lengths for each part
Computation
of the model parameter 
…
Swing-up control
Determination
of the strategy
Implementation
on Matlab
Design
of the parameters( Kp, Kt …)
Simulink
validation
Up-up and down-up control
The
Labview implementation is finished
We
did some simulations but we have some problems
→ Up-up simulation: we have some
oscillations but except of this the controller seems to be robust.
→ Down-up simulation: the
controller is not robust at all. We can observe a drift.
3. Problems:
Our
controllers have apparently not the same behaviour in Simulink and in reality.
We don’t manage to find the reason for this difference.
We
hadn’t the good parameters for the motor but we sent an email to the factory
and obtain the good data sheet.
4. Objectives of next week:
Manage
to simulate in reality the up-up and up-down simulation.
Begin
the Final report
Prepare
the Midterm presentation.
5. Global progress of the project (Schedule’s update)
Conclusion:
The project
is going very well. We had our first problems this week but we are still very
motivated.