Inertia Wheel Inverted Pendulum Project

This project is suitable for anyone with extra free time and passion for interesing projects, but especially for electrical engineering studets (contorl theory students) to learn the control approach of an unstable process and test their algorithms, the primary contorller used in this project is LQR.

This project is also available on Thingiverse

This project is based on Nucleo STM32F411RE microcontroller. And the repo contains :

CubeMX project
Keil project
Solidworks files and STLs

The video of it working can be seen on Link:

Electronics hardware

Nuceleo STM32F411RE - Mouser
Monster motor shield - Ebay
Motor - Mabuchi RS-385PH with encoder (hall or optical)
- With encoder or hall sensors Ebay
- I used motor without sensor and retrofited it with Hall encoder 20cpr Ebay
Encoder Aliexpress
1x 6mm steel or aluminum rod, 120mm long
1x M10x1.5 screw
2x M10x1.5 nuts
10x M3 screw
10x M3 Brass Knurl Nuts Aliexpress
2x ball bearing, 10mm x 35mm x 11mm
steel/amulinum/wooden plate (cca 90mm x 2mm x300mm)

3D printed parts

Inetria wheel - (0.1mm | 50+%)
- Motor shaft mount has to be adapted
- The two provided wheel STLs are for 14tooth and 12tooth version of motors
- Feel free to make your own version of the inertia wheel with the solidworks file
Motor mount - (0.2mm | 30%)
Pole shaft connector - (0.1mm | 30%)
Shaft adapter - (0.1mm | 30%)
Table mount + bearing holder - (0.2mm | 30%)
Nucleo mount - (0.2mm | 30%)

Control algorithm

PD (Simple)
LQR algorithm (Intermediate) - Included in the software + Synthesis using Matlab scirpt
MPC (Advanced) - Suggested use of muao MPC

Connecting the hardware

Monster motor shield is mounted on nucleo very simply, as on any Arduino
- It provides the hardware connections needed and no need for additional jumpers
- Inertia wheel motor should be connected to motor 2 terminal
- 18V - 5A power supply should be used to power the shield
Encoder connection diagram is as follows:

Running the code