ABSTRACT
This research is aimed at developing a multi-body simulation model and control of an inverted pendulum. A virtual prototype of the inverted pendulum is built by using MSC Adams software and the plant model is exported to MATLAB. It is co-simulated in both MATLAB and MSC Adams softwares together. Proportional-integral-derivative (PID) controller is designed and implemented in order to use in pendulum angle control simulations. The modelling and control results shows that the Proportional-integral-derivative (PID) controller can successfully achieve pendulum angle control of the inverted pendulum. Controlled pendulum angle results are simulated and given in the form of the graphics.
- Tinkir, M., Kalyoncu, M., Onen, U., & Botsali, F. M. (2010, February). PID and interval type-2 fuzzy logic control of double inverted pendulum system. In Computer and Automation Engineering (ICCAE), 2010 The 2nd International Conference on (Vol. 1, pp. 117--121). IEEE. Google ScholarCross Ref
- Zhao, J., & Spong, M. W. (2001). Hybrid control for global stabilization of the ca rt--pendulum system. Automatica, 37(12), 1941--1951. Google ScholarDigital Library
- Lee, J. H., Shin, H. J., Lee, S. J., & Jung, S. (2013). Balancing control of a single-wheel inverted pendulum system using air blowers: Evolution of Mechatronics capstone design. Mechatronics, 23(8), 926--932. Google ScholarCross Ref
- Ramesh, R., Balamurugan, S., & Venkatesh, P. (2013). Real Time Servo Motor Control of Single Rotary Inverted Pendulum Using Dspace. International Journal of Soft Computing and Engineering (IJSCE), 3(2), 169--173.Google Scholar
- Prasad, L. B., Tyagi, B., & Gupta, H. O. (2011, November). Optimal control of nonlinear inverted pendulum dynamical system with disturbance input using PID controller & LQR. In Control System, Computing and Engineering (ICCSCE), 2011 IEEE International Conference on (pp. 540--545). IEEE. Google ScholarCross Ref
- Li, Z., & Xu, C. (2009). Adaptive fuzzy logic control of dynamic balance and motion for wheeled inverted pendulums. Fuzzy Sets and Systems, 160(12), 1787--1803. Google ScholarDigital Library
- Omatu, S., & Deris, S. (1996, November). Stabilization of inverted pendulum by the genetic algorithm. In Emerging Technologies and Factory Automation, 1996. EFTA'96. Proceedings., 1996 IEEE Conference on (Vol. 1, pp. 282--287). IEEE.Google Scholar
- Sen, M. A., & Kalyoncu, M. (2015). Optimisation of a PID Controller for an Inverted Pendulum Using the Bees Algorithm. Applied Mechanics & Materials. Applied Mechanics & Materials. 2015, Vol. 789-790, p1039--1044. Google ScholarCross Ref
- https://spaceflightsystems.grc.nasa.gov/education/rocket/rktstab.htmlGoogle Scholar
- https://en.wikipedia.org/wiki/Inverted_pendulumGoogle Scholar
Recommendations
Optimal Control of Nonlinear Inverted Pendulum System Using PID Controller and LQR: Performance Analysis Without and With Disturbance Input
Linear quadratic regulator (LQR) and proportional-integral-derivative (PID) control methods, which are generally used for control of linear dynamical systems, are used in this paper to control the nonlinear dynamical system. LQR is one of the optimal ...
Modelling and Simulation for Optimal Control of Nonlinear Inverted Pendulum Dynamical System Using PID Controller and LQR
AMS '12: Proceedings of the 2012 Sixth Asia Modelling SymposiumThis paper presents the modelling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator (LQR). LQR, an optimal control ...
The LQR Real-time Control for the Inverted Pendulum Based on PSO
ICECE '10: Proceedings of the 2010 International Conference on Electrical and Control EngineeringThis paper established a mathematical model of the inverted pendulum system and put forward a design method of LQR based on PSO. A LQR is designed by this method according to the computer simulation experiments. The simulation results show that the ...
Comments