IP | Background

Gained educational experience at the University of Jordan has given us a broad background in the field of Mechatronics Engineering such as microcontroller design, electronics, design of machine elements, control theory, etc. Consequently, for a Bachelor’s of engineering senior year project, we have hoped to integrate diverse design techniques from multiple fields to create a complete intelligent system. We have decided to design and build a stable system with an inherent instability and then incorporate a controller that would stabilize it using feedback control techniques. Such a system will include many subsystems, such as: mechanical design, electronics design, digital signal processor design, and controller design. Dr. Musa proposed the inverted pendulum problem mounted on a mobile electric car, after searching the problem more on the internet the classic control problem of an inverted pendulum was the perfect problem we have seeked. On the other hand, such system is considered as a complete Mechatronics system which is clarified by the block diagram in figure (1) , it includes all of the mechanical, electrical, and software design.

In designing any system, a set of specifications or requirements is necessarily needed to outline the design boundaries. When we have first tackled this problem the following objectives and goals were in mind:

Building some parts of the mechanical system bearing in mind limited resources. So, we have decided to start with an existing car frame (Borrowed from Dr. Musa).
Designing a PID and/or Fuzzy logic controllers to stabilize the system.
Building an open system in the sense that different future controllers maybe implemented easily. The solution to this was to use a powerful digital signal processor.
Restricting the inverted pendulum motion to be planar for simplicity in mechanical system design.


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Background Problem Definition Applications Based on IP System Project Overview	Background Gained educational experience at the University of Jordan has given us a broad background in the field of Mechatronics Engineering such as microcontroller design, electronics, design of machine elements, control theory, etc. Consequently, for a Bachelor’s of engineering senior year project, we have hoped to integrate diverse design techniques from multiple fields to create a complete intelligent system. We have decided to design and build a stable system with an inherent instability and then incorporate a controller that would stabilize it using feedback control techniques. Such a system will include many subsystems, such as: mechanical design, electronics design, digital signal processor design, and controller design. Dr. Musa proposed the inverted pendulum problem mounted on a mobile electric car, after searching the problem more on the internet the classic control problem of an inverted pendulum was the perfect problem we have seeked. On the other hand, such system is considered as a complete Mechatronics system which is clarified by the block diagram in figure (1) , it includes all of the mechanical, electrical, and software design. the perfec t problem we hav Figure 1 : Block diagram of mechatronics system In designing any system, a set of specifications or requirements is necessarily needed to outline the design boundaries. When we have first tackled this problem the following objectives and goals were in mind: Building some parts of the mechanical system bearing in mind limited resources. So, we have decided to start with an existing car frame (Borrowed from Dr. Musa). Designing a PID and/or Fuzzy logic controllers to stabilize the system. Building an open system in the sense that different future controllers maybe implemented easily. The solution to this was to use a powerful digital signal processor. Restricting the inverted pendulum motion to be planar for simplicity in mechanical system design.
\| Designed by Khaled M. Abu Ayyash - 2008 \|