Philippe Francois
Philippe Francois
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Making an Inverted Pendulum - Part 4 of 4: Control System Design
Hi, In this video I discuss the inverted pendulum I have designed and built.
This part goes into the controller design. Two controllers have been implemented, a swing up controller and upright LQR controller.
Swing Up Controller Design:
www.researchgate.net/publication/236619208_Swing-Up_Methods_For_Inverted_Pendulum
Mathworks Inverted Pendulum LQR Controller Design:
ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=ControlStateSpace
-----------------------------
Sections
Introduction: (0:00​)
Demonstration Video (0:34)
Swing Up Controller Design: (0:45)
Upright LQR Controller Design: (5:25)
Project Retrospective: (11:32)
Outro: (13:24)
---------------------------------------------------------------------------------------------------------------------
Credits:
---------------------------------------------------------------------------------------------------------------------
Music
Track: ROY KNOX - Firefly
Music Provided by Magic Records
Listen To The Original: th-cam.com/video/JPsWAmdpxco/w-d-xo.html​
Free Download: fanlink.to/b7AD
มุมมอง: 5 475

วีดีโอ

Making an Inverted Pendulum - Part 3 of 4: Modelling and Simulation
มุมมอง 7K3 ปีที่แล้ว
Hi, In this video I discuss the inverted pendulum I have designed and built. This part goes into the modelling and simulation work. We start with an overview of the Simulink model. I then go into the equations I used to construct the Simulink model. Finally, we will look at how we can use the data we got in Part 2 to validate the model we have constructed. Mathworks DC Motor Equations: ctms.eng...
Making an Inverted Pendulum - Part 2 of 4: Electronics and Software
มุมมอง 7K3 ปีที่แล้ว
Hi, In this video I discuss the inverted pendulum I have designed and built. This part discusses the electronics components, wiring, software platform. We then perform a step response on the motor and do a quick check on the data. Sections Introduction: (0:00​) Demonstration Video - Fault Protection: (0:53) Electronic Components Overview: (1:05) Wiring: (4:37) Software Platform: (8:59​) Step Re...
Making an Inverted Pendulum - Part 1 of 4: Design and Assembly
มุมมอง 20K3 ปีที่แล้ว
Hi, In this video I discuss the inverted pendulum I have designed and built. This part discusses the design, operation and assembly. Sections Introduction: (0:00​) Demonstration Video: (1:38) Video Series Overview: (2:07) Design Overview: (4:27) Hardware Components & Assembly: (7:16​) Outro: (15:48) Credits: Music Track: ROY KNOX - Firefly Music Provided by Magic Records Listen To The Original:...
How to Make a 3D Printed RC Airplane from Scratch: Part 1 - Introduction
มุมมอง 4663 ปีที่แล้ว
In this part series I will be discussing how I have designed, built and tested and RC Airplane. In this first part of the series I will just give an introduction into what I am trying to achieve and how I derived my top level parameters like size, weight, speed and flight time. I know this video does not feature the VTOL design much but the Non-VTOL version is the first stepping stone. Sections...
Getting Started with Lightweight PLA (LW-PLA) on an Ender 3 (HQ)
มุมมอง 9K3 ปีที่แล้ว
This video is just an overview of how I got started with colorfabb Lightweight PLA. Statements in this video are my own opinions and may not necessarily reflect those of colorFabb. The official tutorial on colorFabb's site is here: learn.colorfabb.com/print-lw-pla/ This is not a sponsored video nor am I affiliated in anyway, with colorFabb.
Avionics Flight Demonstrator (AVD March 2016)
มุมมอง 3.6K7 ปีที่แล้ว
This video is an overview of the integration of the avionics systems developed during the Aerospace Vehicle Design Group Design Project at Cranfield University. This video was produced for the MathWorks Simulink 2016 Student Challenge and demonstrates the functionality of the integration of the Flight Control System, Flight Management and Landing System and the Guidance and Display Unit. #Simul...
Final Year Project: Positioning from Sparsely Distributed Sensor Motes
มุมมอง 1477 ปีที่แล้ว
Final Year Project: Positioning from Sparsely Distributed Sensor Motes
Introduction to Aerodynamic Analysis using AVL
มุมมอง 42K7 ปีที่แล้ว
This video demonstrates the basic functionality of Athena Lattice Vortex (AVL) by Mark Drela of MIT.

ความคิดเห็น

  • @SaiBalajiPranavRenduchintala
    @SaiBalajiPranavRenduchintala 18 วันที่ผ่านมา

    Could you send me the cad models of the pendulum or maybe stl

  • @felipekolter9434
    @felipekolter9434 24 วันที่ผ่านมา

    Good morning, how are you? Amazing work! Could you share the CAD model?

  • @viniciusfriasaleite8016
    @viniciusfriasaleite8016 6 หลายเดือนก่อน

    Where did you bought the gears and rack? Great video btw

    • @philippefrancois2097
      @philippefrancois2097 6 หลายเดือนก่อน

      Hi, I got them from RS components . I remember the rack costing a bit more than I hoped.

  • @Muhammad.Waleed
    @Muhammad.Waleed 9 หลายเดือนก่อน

    Can you give the Matlab model and Arduino code?

  • @gernotrieger2338
    @gernotrieger2338 9 หลายเดือนก่อน

    Good explanation! Very interesting and informative, thanks a lot

  • @37kuba
    @37kuba 10 หลายเดือนก่อน

    Awesome presentation. Keep up!

  • @ControlEngineeringCh
    @ControlEngineeringCh 10 หลายเดือนก่อน

    Great work!

  • @chrisr7341
    @chrisr7341 11 หลายเดือนก่อน

    Great video series, thanks a lot for the effort you have put into this!

  • @originalheaven888
    @originalheaven888 ปีที่แล้ว

    Hi... could you please send me the matlab model .. urgently pls

  • @santiagorierapelaez2626
    @santiagorierapelaez2626 ปีที่แล้ว

    Greetings from Ecuador 🇪🇨 . Friend, can you please help me with 3D modeling, I have to do a similar project for the university and your modeling would help me a lot

  • @ABHISHEKSHARMA_Abs
    @ABHISHEKSHARMA_Abs ปีที่แล้ว

    sir i am doing my university project. i have some doubt about hardware control using simulink .i need your help to implementing and controlling this inverted pendulum.

  • @ABHISHEKSHARMA_Abs
    @ABHISHEKSHARMA_Abs ปีที่แล้ว

    sir , i have doubt about controlling part of inverted pendulum. can you guide me about this.

  • @musuyuemmanuel2372
    @musuyuemmanuel2372 ปีที่แล้ว

    @philipe Francois, could you please share the document of this project with me. I'm currently working on the same project for Sysmtem Modeling. If perhaps you have any document pdf or doc, could you please share it with me

    • @sahaninduwara4678
      @sahaninduwara4678 10 หลายเดือนก่อน

      Did you get the documents ?

  • @danielwalker5682
    @danielwalker5682 ปีที่แล้ว

    Brilliant.

  • @danielwalker5682
    @danielwalker5682 ปีที่แล้ว

    Excellent in every respect.

  • @BenBilesBB-box
    @BenBilesBB-box ปีที่แล้ว

    thank you ! great information on calibration. can I ask if you have a regular Bowden tube / extruder ender 3 or a direct drive ? I have an ender 3 v3 but with regular Bowden tube setup and wondering if it can print the expanding foam

  • @OzzMazz
    @OzzMazz ปีที่แล้ว

    Thanks for creating this series. Very valuable.

  • @Uszu98
    @Uszu98 ปีที่แล้ว

    Hi, I'm doing a similar project at my university in Paraguay 🇵🇾 but using an incremental encoder. I'm just starting and it would be great to receive some help. May I send you an e-mail or something?

    • @philippefrancois2097
      @philippefrancois2097 ปีที่แล้ว

      Hi , if you send me a message on LinkedIn I’ll be happy to try to help : www.linkedin.com/in/philippe-francois-b3356491

    • @ABHISHEKSHARMA_Abs
      @ABHISHEKSHARMA_Abs ปีที่แล้ว

      have u completed your university project. i need some help because i m doing same project write now

  • @daniswarakumaradipta3773
    @daniswarakumaradipta3773 ปีที่แล้ว

    Can you make the reference integral control version?

  • @FliBaleon
    @FliBaleon 2 ปีที่แล้ว

    Aaam

  • @terryclementson8420
    @terryclementson8420 2 ปีที่แล้ว

    Best result with a Ender S1 Pro 250/60 and 50% Flow perfect print. Hot end goes to 300 deg

  • @terryclementson8420
    @terryclementson8420 2 ปีที่แล้ว

    Thanks very informative have done the same as you with esun LW and now understand better what is happening . Planes are next if I can just stop the stringing but it seems to be issue with files or/ and cura.

  • @23_marcellinomandalasaputr15
    @23_marcellinomandalasaputr15 2 ปีที่แล้ว

    will you send me the 3d model please!

  • @Ak-ib3wy
    @Ak-ib3wy 2 ปีที่แล้ว

    I used a teensy instead of the Arduino UNO for a project, it was much faster and same arduino library for programming, you could probably check it out.

    • @juanpoveda2433
      @juanpoveda2433 2 ปีที่แล้ว

      About this teensy, does it work similar to the arduino? which are the benefits of using the teensy instead of the arduino. Also i'd like to know if the arduino mega has the same issues

  • @romanovrex
    @romanovrex 2 ปีที่แล้ว

    Thank you, I'm expecting with this at the moment.

  • @sebastiandimitrieonitiu2821
    @sebastiandimitrieonitiu2821 2 ปีที่แล้ว

    Hey Philippe. There's a way to contact you on Facebook or mail? I want to see what code do you create for the inverted pendulum in arduino if you let me see. I would apreciate so much.

  • @dralihussein100
    @dralihussein100 2 ปีที่แล้ว

    Hi is there any way to contact with you like telegram or Facebook I am trying to make inverted cart pendulum I didn't use encoder for pendulum But I use dc+ potentiometer +h bridge And I use ultrasound sensors for cart position I don't know how to connect between hardware and there is not any video to connect I will appreciate any help .

    • @juanpoveda2433
      @juanpoveda2433 2 ปีที่แล้ว

      i'd like to kow if you were able to succeed in yu project, if so i'd like to contact regarding the same issue

  • @sebastiandimitrieonitiu2821
    @sebastiandimitrieonitiu2821 2 ปีที่แล้ว

    for step response and data analysis you have some data into an excel document. how you prelevate that that or what software you used? cand you explain me the procedure of obtaining that data from the sensors?

    • @philippefrancois2097
      @philippefrancois2097 2 ปีที่แล้ว

      Hi. All I did was println the value of the sensors with a space in between. This outputs the data to the serial monitor and from there you can just Cntl+C and Cntrl+V the serial monitor to copy and paste it into excel. Hope that helps :)

    • @biomedicalengineering1169
      @biomedicalengineering1169 2 ปีที่แล้ว

      @@philippefrancois2097 I have question Can I replace Rotary incremental encoder With dc motor and h bridge and connect them with pendulum

    • @biomedicalengineering1169
      @biomedicalengineering1169 2 ปีที่แล้ว

      If you are making inverted cart pendulum I have questions for you Can I replace incremental Rotary encoder with DC MOTOR AND H BRIDGE

  • @zamiulalamrafat4571
    @zamiulalamrafat4571 2 ปีที่แล้ว

    Would you please share the CAD model?

  • @tubamanandy2
    @tubamanandy2 2 ปีที่แล้ว

    Really useful video - thank-you

  • @dbooze148
    @dbooze148 2 ปีที่แล้ว

    Thank you for sharing your experience with this :)

  • @ghazanfaraqdas8050
    @ghazanfaraqdas8050 2 ปีที่แล้ว

    Hey philippe I need some assistance related to this project, would you like to help me?

  • @sebastiandimitrieonitiu2821
    @sebastiandimitrieonitiu2821 2 ปีที่แล้ว

    Can i send a mail to you about this project?

  • @chrispaul7142
    @chrispaul7142 2 ปีที่แล้ว

    This is a great video! looking forward to the remaining 3 parts

  • @cgrosbeck
    @cgrosbeck 2 ปีที่แล้ว

    YYYYYY do you say low end, because of the cost/price. Motion system, extruder, and hot end IS ALL THAT IS NEEDED!!!!!! All printers take knowledge and skill, thats all. A heated chamber is the only thing missing and a cardboard box is not the answer for good high temp prints. THEN ENDER 3 IS A NUMBER ONE PRINTER WHEN ASSEMBLED PROPERLY. Don't frown upon low cost printers use the tool to the best of its capabilities and it will reward you.

  • @eiliannoyes5212
    @eiliannoyes5212 2 ปีที่แล้ว

    Somehow ended up here. Thanks - tres bon! Makes me wonder - what was the purpose of the very first implementation of the h-bridge, and who came up with it?

    • @eiliannoyes5212
      @eiliannoyes5212 2 ปีที่แล้ว

      About the global variables - no misuse here, cheri - that exactly what they are for! You have here just one and only process to control - very reasonable to make all the control parameters available from anywhere in the code, regardless its structure.

  • @BalajiSankar
    @BalajiSankar 2 ปีที่แล้ว

    Good work

  • @matthewbarker9188
    @matthewbarker9188 2 ปีที่แล้ว

    This is a great video, could you please link the simulink models for me please? I'd love to take a closer look!

  • @davincifpv3842
    @davincifpv3842 2 ปีที่แล้ว

    Guys be carefull printing that high with a teflon tube. You should not print higher than maybe 210. Buy an all metal hotend if you dont want to inhlae bad fumes!!!!!

    • @mikeryan2388
      @mikeryan2388 2 ปีที่แล้ว

      I've overcharged and blown up a few Lithium polymer batteries in my garage and the stench lasts for days. I suppose that's probably not good to inhale

  • @pankajborade9642
    @pankajborade9642 2 ปีที่แล้ว

    Thank you taught every thing very clearly

  • @JustBarran
    @JustBarran 2 ปีที่แล้ว

    Waiting for v2, and get a FPV system in there

  • @chrismb7
    @chrismb7 2 ปีที่แล้ว

    That crash at the start prob really hurt 😭, really good and informative video

    • @JustBarran
      @JustBarran 2 ปีที่แล้ว

      It hurts the more you watch the video and heard the effort that went into it 😭🤣, but it got lift step 1

  • @JustBarran
    @JustBarran 2 ปีที่แล้ว

    Following from trinidad 😂🔥🙌🏽

    • @philippefrancois2097
      @philippefrancois2097 2 ปีที่แล้ว

      Barran boiii . appreciate the support. Dont forget to hit the like button for the you tube algorithm haha. How we are the only ones with a youtube channel from Elec.. Well except Varoun Vlogs but that doesn't count...

    • @JustBarran
      @JustBarran 2 ปีที่แล้ว

      @@philippefrancois2097 I still waiting to see the pla plane fly 😭😭

  • @armaganvideos
    @armaganvideos 3 ปีที่แล้ว

    Trying to get this to work on my Ender 3 V2. LW-PLA from ColorFabb will be arriving today and then lets see whether I can manage to print the GASB one :D usually I hate fiddling around with these settings a dozen times since it takes so much time.

    • @armaganvideos
      @armaganvideos 2 ปีที่แล้ว

      Update: While trying to get it working I destroyed my extruder plastic grind thingy and replaced it with a aluminium one which made it print way better. Then tried prints with varying settings, but your settings were the perfect ones: 250C, 35mm/s, 50% flow rate. Now off for printing my first plane!

  • @wwjoesr
    @wwjoesr 3 ปีที่แล้ว

    Thanks Philippe for the video. I am in the process of learning to print rc planes with a 3D printer. So far I have printed 5 planes and it is really a learning process but I have learned a lot about printing with PLA and PETG, ABS and I have some very nice planes. Lately PETG is my go to filament because it gets very hot during the summers here and PLA doesn't handle the heat well. I have purchased a roll of Colorfab LW PLA and a roll of the same from esun. My biggest problem is getting the COG right. So now I am printing a Pilatus Porter with parts from Petg and from LW PLA. Especially the aft parts with LW. Your video has been super helpful to me and Im looking forward to more videos! You are a good teacher....easy to listen and follow along.

  • @wwjoesr
    @wwjoesr 3 ปีที่แล้ว

    Hello Philippe, Thanks for the video of your plane. It would be great if you make a video showing all its parts and how they function, how they are attached, etc. I see you have canards but not sure if they are working or stationary. Also it would be nice to see the battery tray, receiver, esc placement, and that sort of thing. Do you use the flaps on takeoff and landing? How is the landing gear? I like the design of the plane and would love to see some more flight videos. Did you print it with LW-PLA? And what about your LED lights at the end of the video. I love building and flying rc planes, and have recently started with 3d printed planes so your project is very interesting!

  • @robthomas8895
    @robthomas8895 3 ปีที่แล้ว

    Great information. Thanks

  • @moyadavid23
    @moyadavid23 3 ปีที่แล้ว

    How do I contact you please, can I get your email

  • @bilalsadiq3495
    @bilalsadiq3495 3 ปีที่แล้ว

    Why didn't you expalin the "Control" blocks ??

    • @philippefrancois2097
      @philippefrancois2097 3 ปีที่แล้ว

      Hi, please see Part 4

    • @bilalsadiq3495
      @bilalsadiq3495 3 ปีที่แล้ว

      @@philippefrancois2097 Oh wow,,Thanks a lot,,my appologies ,By the way excellent way of explaining,,thumbs up..and wish to see more such videos.Best of luck

  • @saint79209
    @saint79209 3 ปีที่แล้ว

    Would you please send me cad model and code?