Article
i-Pendulum
Part 2 – software, assembly, control
After the theory, here comes the practical! This second part will guide you in building your inverted pendulum. Once the electronics have been wired up and the mechanical parts assembled, you’ll be able to listen to the heart of the pendulum using the Windows software designed for this purpose.
Extra info / Update
Download pls see https://www.elektormagazine.com/labs/inverted-pendulum-150175-i .
Component list
Component List
Resistors
Default: 0805, 0.125W, 1%
R1,R21 = 10kOhm
R2 = 330Ohm
R3,R4,R5,R22 = 130Ohm
R6 = 100Ohm, 1206, 0.25W, 1%
R7 = 100kOhm
R8,R9,R10,R11 = 1 Ohm, 1206, 0.25W, 1%
R12 = 56kOhm
R13 = 11kOhm
R14,R20 = 20kOhm
R15,R26 = 24.9kOhm
R16,R17,R18 = 4.7kOhm
R19 = 1kOhm
R23 = 215kOhm
R24 = 15mOhm, 2512, 1W, 1%
R25 = 160kOhm
Capacitors
Default: 0805, 50V, 10%
C1,C37,C40 = 10µF 16V, 1206
C2,C3,C4,C5,C6,C7,C8,C10,C21,C22,C23,C25,C26,C30,C31 = 100nF
C9,C11,C12,C17,C24,C36,C39 = 10nF
C13,C15,C33 = 220nF
C14,C29 = 68µF 16V, 20%, 0.05Ohm, SMD-D
C16 = 5.6nF
C18 = 1.2nF
C19 = 33nF
C20,C32,C35,C38 = 1µF
C27,C28 = 47µF 10V, 20%, 0.035Ohm, SMD-D
C34 = 100pF
Inductor
L1 = 5.0µH shielded high power inductor
Semiconductors
D1, D2 = 1N4148W
D3 = MBRS340T3G
LED1 = SMD, 1206, red
LED2 = SMD, 1206, yellow
LED3, LED4 = SMD, 1206, green
IC1 = dsPIC33EP128MC202-I/SS, programmed (Microchip sampling service)
IC2 = SN65C3221E
IC3 = L6235PD
IC4 = ADXL345BCCZ
IC5 = SN74AHC1G32DBVT
IC6 = ISZ-2510
IC7 = MAX668
IC8 = LP2985-33DBVTE4
IC9 = LP2992IM5-3.3/NOPB
T1 = FDS6680AS
Miscellaneous
F1 = 8A, 125V, SMD
K1 = 4-pin (2x2) pinheader, 0.1’’pitch
K2 = 6-pin (2x3) pinheader, 0.1’’pitch
K3 = 11-way FFC/FPC ZIF connector, 1mm pitch, right-angle
K4 = 2 way XH disconnectable crimp style connectors
S1 = slide switch, SPDT, right-angle
PCB
Not on PCB
M1 = Motor, EC 45 flat Ø42.9mm, brushless, 12V, 30W, with Hall sensors
BATT1 = LiPo battery, 7.4V, 2S, 30C, 450mAh (Internet)
Mechanical
Shell PCB, 3D printer
Shell Motor, 3D printer
Wheel Axle, 3D printer
Fly wheel, Ø outside: 55mm, Ø inside: 48mm, H: 10mm (Misumi)
Screws for motor, M3, 6mm
Screws for enclosure + PCB, NO6X1/2
Battery adapter cable
RCY connector - socket pin contact
RCY connector - socket housing
XH connector - plug socket contact
XH connector - plug housing
AWG 20 single wire, red, 40 mm
AWG 20 single wire, black, 40 mm
Resistors
Default: 0805, 0.125W, 1%
R1,R21 = 10kOhm
R2 = 330Ohm
R3,R4,R5,R22 = 130Ohm
R6 = 100Ohm, 1206, 0.25W, 1%
R7 = 100kOhm
R8,R9,R10,R11 = 1 Ohm, 1206, 0.25W, 1%
R12 = 56kOhm
R13 = 11kOhm
R14,R20 = 20kOhm
R15,R26 = 24.9kOhm
R16,R17,R18 = 4.7kOhm
R19 = 1kOhm
R23 = 215kOhm
R24 = 15mOhm, 2512, 1W, 1%
R25 = 160kOhm
Capacitors
Default: 0805, 50V, 10%
C1,C37,C40 = 10µF 16V, 1206
C2,C3,C4,C5,C6,C7,C8,C10,C21,C22,C23,C25,C26,C30,C31 = 100nF
C9,C11,C12,C17,C24,C36,C39 = 10nF
C13,C15,C33 = 220nF
C14,C29 = 68µF 16V, 20%, 0.05Ohm, SMD-D
C16 = 5.6nF
C18 = 1.2nF
C19 = 33nF
C20,C32,C35,C38 = 1µF
C27,C28 = 47µF 10V, 20%, 0.035Ohm, SMD-D
C34 = 100pF
Inductor
L1 = 5.0µH shielded high power inductor
Semiconductors
D1, D2 = 1N4148W
D3 = MBRS340T3G
LED1 = SMD, 1206, red
LED2 = SMD, 1206, yellow
LED3, LED4 = SMD, 1206, green
IC1 = dsPIC33EP128MC202-I/SS, programmed (Microchip sampling service)
IC2 = SN65C3221E
IC3 = L6235PD
IC4 = ADXL345BCCZ
IC5 = SN74AHC1G32DBVT
IC6 = ISZ-2510
IC7 = MAX668
IC8 = LP2985-33DBVTE4
IC9 = LP2992IM5-3.3/NOPB
T1 = FDS6680AS
Miscellaneous
F1 = 8A, 125V, SMD
K1 = 4-pin (2x2) pinheader, 0.1’’pitch
K2 = 6-pin (2x3) pinheader, 0.1’’pitch
K3 = 11-way FFC/FPC ZIF connector, 1mm pitch, right-angle
K4 = 2 way XH disconnectable crimp style connectors
S1 = slide switch, SPDT, right-angle
PCB
Not on PCB
M1 = Motor, EC 45 flat Ø42.9mm, brushless, 12V, 30W, with Hall sensors
BATT1 = LiPo battery, 7.4V, 2S, 30C, 450mAh (Internet)
Mechanical
Shell PCB, 3D printer
Shell Motor, 3D printer
Wheel Axle, 3D printer
Fly wheel, Ø outside: 55mm, Ø inside: 48mm, H: 10mm (Misumi)
Screws for motor, M3, 6mm
Screws for enclosure + PCB, NO6X1/2
Battery adapter cable
RCY connector - socket pin contact
RCY connector - socket housing
XH connector - plug socket contact
XH connector - plug housing
AWG 20 single wire, red, 40 mm
AWG 20 single wire, black, 40 mm
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