Project TAU «The reaction wheel pendulum»

1. Project TAU «The reaction wheel pendulum»

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

2. 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:

3. Building relationships between the main elements in Simulink:

4. Budget and component

№
Name
Price per one
(RUB)
1
Epoxy adhesive
149
2
Lead cargoes
120
3
Wire MGTF 2m 0.03mm^2
38
4
Soldering acid 30 ml
39
5
Resistors 10 kOhm 10 pcs.
80
6
Optocouplers pc817 4 pcs.
56
7
Electromotor
19

5.

6. 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

7. The result

8. And now…

9. 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

10. THANK YOU FOR ATTENTION!