Double Pendulum on a Cart
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- Опубликовано: 8 сен 2024
- Double Pendulum on a Cart
12 x point-to-point control and 4 x side-stepping
Two-degrees-of-freedom design:
Constrained feedforward & optimal feedback control
TU Vienna ACIN CDS www.acin.tuwien...
Done by Andreas Eder and Tobias Glück
users.acin.tuwi...
This has to be the most beautiful thing i ever saw in my life
There is a triple to... and a double double
there's a bananana next to a bananana
That's a permanent magnet synchronous maschine (PMSM) with an angular speed up to a maximum value of 3000 rpm. The angle resolution results in a position resolution of approximately 1/10 mm.
That is seriously impressive! Great job.
the versatility of the violin amazes me
thats amazing.
Pikapetey Animations yes
Didn't expect seeing someone like u here lmao
I could watch this all day long. Forget cat videos.
Double Pendulum on a Cat?
What a domain in classical mechanics and theory of control
To this day, I"m still impressed by this!
What's the theoretical maximum of pendulums you can balance?
At what point does it become as hard as balancing a rope up?
There is just one motor actuating the toothed belt.
Double pendulum all the waaay!
AHahahaaah! Double pendulum!
All the way across the sky! What does it mean?
+Ryan Smith Its a reference to the Double Rainbow video.
I prefer tripple
So high right now
+Alex Zellers suh dude
It's just a Ricatti controller. Simple state feedback with integral action.
So this is what the machines will do after they eliminate all humans and get bored. "Well, there's no more humans, guess I'll just do some tricks with this pendulum..."
pure awesomeness !
This is the most bad-ass project ever!!!!!
What are the weights of each pendulum? I guess that the bottom pendulum is heavier. Is control a lot more difficult if they're the same weight?
Stupendo!!!! Complimenti ✌️
The setup is actuated by just one motor!
Tobias Glück nope...that's physically impossible. Unless you were violating newton's laws. you would go prison, did you know? You can't trick a physicist my friend 😂. Only engineers will believe that.
Could you explain why this is impossible?
I can't even begin to imagine what the state space matrix for that looks like XD
Thus is mesmerising
Great! Congratulations!
Incredible!
That is awesome.
Very nice!
That's why humanity will not have a chance.
I came here from a compilation of robots falling down. I was feeling a bit better about humanity's chances in the artificial intelligence uprising, but now I'm back to thinking we're probably screwed.
oh, you are so right, we are oh so screwed!
When the AIs finally do take over it will be because they deserve to.
very nice state machine solving matrices
Amazing!
I am working on it so can you guide me on this .? and you have done an awesome job my friend brilliant
How did you send signal and power to the second pendulum encoder without the wire getting caught?
Respect (y)
control systems porn. hard to believe this video was making the rounds before i even became an engineer lol
amazing controlling technology...
amazing. The white cable must be connected to mesure the 2 angles. I was wondering, what sensor are you using to mesure the angular position ?
Probably two rotary encoders
9 years welp
@@rafaeldacunhadelima5513 You tried lol
Soo damn awesome!
It’s magic!
good job
unbelievable!
Which motor is being used and whats the total latency
unbeliavable
I find interesting how this works on "equilibrium points", I'm in the way of learning PID classic control, fuzzy control , and neural networks, can you give me a clue what kind of control is recommended for this kind of system or which one do you use for this system and why? thanks!
Optimal nonlinear
Uses PID control strategies in optimal control ?
Big respect to men who coded it.
Women*
@@romo2674 People*
can u give me learning method of inverted pendulum 2 DOF??
Guys have you published any paper related to this work??
Now add a third pendulum :)
It’s like magic 😅
So when do we see you in the olympics?
Is an intermediate stable position possible, E.G. the bottom element at 45 degrees from the vertical,and the top element vertical ?
No.
It would only be possible for as long as the cart can move in one direction. Because gravity would be applying constant torque, the cart would have to keep moving to get "under" the stick. In simpler systems, that's how segways move (and are controlled). You unbalance it and it constantly moves to try to catch up with you. This obviously works only for as long as there is room to move in that direction.
@@tylisirn my gut says it's not possible and for sure it can be proven mathematicaly... Or disproven.
I see some very mad calculations going on, but how did the creator get around design errors like the joints on the pendulum?
The sensors measure what they see and then machine learning + trial an error correction, untill all parameters line up... It's my guess.
What was the material used in this experiment?
how many motors do you use to apply the torque?
hi man, how you define all the model of the system?
how you made it..
You said you use a ricatti state feedback controller with integral action (LQI i pressume) but what about the swing up? I assume you had to change the authority between 2 or.more.controllers? Did you use a lyapunov controller? Bangbang o what type of controller?
Was this done with MPC?
I was wondering if there is one motor at the top of the first rod??
Nope
what sort of application could this be used for?
Walking.
Now make it hold sideways :P
Hello, i m doing researchs on the double pendulum, do someone know use of this system ? Or more generaly of the double pendulum
Thanks in advance
It's a traditional control theory problem. Not much real world application though, far as I know.
Judges: USA 10 Germany 10 China 10 Russia 6
The sickest burn here is your omission of Japan
it's awesome :|
encoder type you use it?
linh nguyen vu i think thats encoder is rotary encoder.
oh thankyou
math son
:O
Da fuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuu
wtf? 😶
It's just a Segway....
+Madrrrrrrrrrrr "just a segway" lol close but far
+StonePanda69 a segway is also double jointed. ( wheels = 1, person = 2) And keeping it upright by balancing the lowest joint. Just ask Tobias Glück. :D
Madrrrrrrrrrrr lol yes thats true, but the control algorithms needed to actually balance an inverted double are relatively complex; its a fundamentally unstable system. Haha i have built a double pendulum before and it is really hard to do XD
+StonePanda69 not as hard as predicting a double pendulum swing ;) Anyway it's all about fine tuning the force feedback system.