Aeropendulum 
This propeller driven pendulum was submitted as the final project of the subject Control Systems (UTN San Francisco, Córdoba). The device is designed to track some reference angle as well also to reject disturbances.
The main goal of this project is to use it as a hands on didactic tool, where diverse control techniques can be implemented.
Features
Currently the device has:
- One drone propeller (with motor driver) as control actuator.
- A rotary encoder to sense the output angle.
- Bluetooth communication with PC or smartphone.
- Modest PC(console) script to interact with the device throught bluetooth.
Planned features
- Acceleration sensor and gyroscope.
- PC(console) application to interact with the device.
Building materials
- Drone propeller with motor and driver.
- Motor power source.
- STM32F4 Discovery board.
- HB01 UART-Bluetooth dongle.
- Rotary encoder with sensor (can be taken out of a printer).
- 6cm x 36 cm (2mm width) metal sheet for the tower (see blueprints under mechanical/).
- Heavy base.
- Rectangular aluminium 50cm x 1.05cm x 1.05cm rod for the pendulum.
- Iron (8 mm diameter) 10 cm rod for the axis.
- 3D printed parts (see desings under mechanical/).
- Screws and cables.