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Propopropositional Integral Derivative and Nonlinear Model Predictive Control in Cart Pole

Sinulation Result

cart_pole

time-response

Physical Result

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Physical Specifications

  • mass of cart : 0.123 kg (122.61g)
  • length of cart : 0.045m (4.5cm)
  • mass of pole : 0.089 kg (88.68g)
  • length of pole : 0.4m (40cm)
  • inertia of pole : 0.004 746 kg m^2
  • length of rail (linear guide) : 0.72m (72cm)
  • maximum magnitude of force : 1.2 N

Materials

Name Product Price
Stepper Motor KH42JM2-901 27,000 won
Stepper Motor Driver AM-CS2P 25,000 won
Absolute Rotary Encoder EN25-Absolute 75,000 won
End Stop Photo Interrupter Sensor 300 won
Processor Raspberry Pi Pico 1 6,400 won
Cedar Wooden plank 28,000 won
Linear Guide 45,913 won
Wooden Rod 2,800 won
Shaft Holder 7,260 won
Timing Pulley 1,500 won
Timing Idler 900 won
Timing Belt 1,412 won
Sheet Metal (Aluminum) 130,000 won

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NMPC and PID in Cart Pole

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