Pendulum + Beaglebone + Control Theory = Profit

Nov 21, 2016
Can a Beaglebone Black balance a pendulum? The answer is a resounding yes... thanks to our friend, Control Theory.
In this talk, we present an overview of the Quanser pendulum hardware, the Beaglebone Black, and state-feedback controllers.
The intended audience is engineering undergraduates.
Presented to the IEEE Club at the University of California, Santa Barbara.
More videos, projects, code, presentations, contact info: justinppearson.com
(c) 2016 Justin P. Pearson. All rights reserved.

[@vedantjoshi1487]

man!!!.......you are too good at teaching control theory....you made it tooo easy..!!!
thank you man...#kudos

[@JonPrevost]

The SRV-02 has 2 quad encoders AND the potentiometer. Limitations for encoder input on the Beaglebone?

[@lindnerlars81]

He Justin, you are great men :) I want to build something similar and I want to ask you, if you programmed all the measurement and state-space controller in your Beaglebone using Python? You are used some king of Linux RTOS to guarantee the execution of your control algorithm in real time? Can you give me some hint on the implementation please? :) Thank you again dude, Lars

[@funskits]

Hi Lars, for this video, are you correct -- I used a state-space controller and observer in Python on the Beaglebone. It turned out the system was sufficiently stable that I didn't need an RTOS. The control loop ran every 5ms, with small timing errors due to processor preemption. However, for more unstable systems, it would have been necessary to have a real-time solution. When I was working on my PhD, I used the Beaglebone's 200 MHz Real-Time Unit (RTU) as a real-time sensor/actuator coprocessor. The controller still ran on Linux on the main 1 GHz processor, but the time-sensitive sensing and actuating occurred on the RTU. For more details, please see the video here: justinppearson.com/research.html#an-architecture-for-preemption-resistant-control-ph-d-defense

[@amazon_tech_gagets]

Which language is prefer for this project

[@tanhhoangcong2806]

How can i build this project? Can you help me

[@funskits]

How about start with the instructions at my GitHub page:
github.com/justinpearson/Beaglebone-motor-from-command-line

[@robertoalmazan3030]

Hi. What motor did you use? :D

[@funskits]

Here is the kit from Quanser: www.quanser.com/products/rotary-inverted-pendulum/

[@robertoalmazan3030]

Thank you ^^