Peter the Great St. Petersburg Polytechnic University Project TAU «The reaction wheel pendulum» Team: Yulia Bokarcheva Ivan Alekseenko Natalia Chistyakova Azamat Khamzin Anastasia Surovceva Arseniy Ogarkov
Main point of the project: The reaction wheel pendulum is a pendulum with a rotating wheel at the end, which is free to spin about an axis parallel to the axis of rotation of the pendulum. The reaction wheel pendulum:
Building relationships between the main elements in Simulink:
Budget and component № Name Price per one (RUB) 1 Epoxy adhesive 149 2 Lead cargoes 120 3 Wire MGTF 2 m 0. 03 mm^2 38 4 Soldering acid 30 ml 39 5 Resistors 10 k. Ohm 10 pcs. 80 6 Optocouplers pc 817 4 pcs. 56 7 Electromotor 19
How we did it: 1. Assembled the mechanical part 2. Soldered the wires, connected 3. Finding a solution for working with an accelerometer and an engine driver. 4. Debugging, nothing worked because of interference 5. They made separate power supply of the Arduino and motor, remade the signal wires from the accelerometer, making them twisted in pairs and transferred the driver directly to the motor 6. Selection of the speed of rotation of the motor and the algorithm itself, so that everything swings and stabilizes
The result
And now…
Problems 1. Engine speed is poorly controlled 2. Wires are too long and strong. Rather close to the signal, which interferes with the accelerometer and drives him crazy with Arduino. Even with separate power 3. Also, the wires press on the spinner itself, which interferes with stabilization
THANK YOU FOR ATTENTION!
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