Pendulum-Mimicking-System-with-PID-Control

Youtube links: https://www.youtube.com/watch?v=tlOQH3bDsag

The aims of the assignment of real time pendulum mimicking system are:

1. Develop and design a real time embedded system with the knowledge of programming, understanding, technique and concept of RTOS from lectures and labs.

2. Understands the trade-off between hardware and software implementation in a real time embedded system by studying the software hardware co-design problem.

3. Convert the timing information from photoelectric sensor and quadrature encoder and its relationship from programming to real time pendulum mimicking system.

4. Design a module that responds deterministically to the sensor interrupts within hard deadlines.

5. Design a PID controller on the difference of quadrature encoder position to the origin to determine the required PWM and the period of oscillation to mimic the pendulum system accurately to the real pendulum in real time.

Flow Chart

Overall workflow of the algorithm of real time pendulum mimicking system

Flow charts of real time pendulum mimicking system algorithm for a cycle