Simple Rotary Inverted Pendulum and the Control Device

Yang Hua; Zi Jian Yang

doi:10.4028/www.scientific.net/AMM.851.445

Paper Titles

Sensorless Speed Control of Induction Motors with Method of Least Squares
p.421

Development of the Field of Wheat Plant Protection Precision Spraying Robot Control System
p.427

A Small-Line Segment Dynamic Transition Algorithm Based on Axial Error Tolerance
p.433

The Output Characteristic Analysis for Wind Turbine Based Two Control Strategies
p.439

Simple Rotary Inverted Pendulum and the Control Device
p.445

Design of the Two-Wheeled Self-Balance Vehicle
p.449

Testing and Analysis of Micro-Vibrations Generated by Control Moment Gyroscope in Different Installation Boundary
p.453

BLDC Motor Torque Ripple Control Using Self-Tuning PID Fuzzy Control System
p.459

Design and Analysis of a Micro Actuating Mechanism Driving Multi-Degree of Freedom
p.464

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 851Simple Rotary Inverted Pendulum and the Control...

Simple Rotary Inverted Pendulum and the Control Device

Abstract:

Inverted pendulum control system is a complex, nonlinear, unstable system. This design on the basis of studying the law of motion of the inverted pendulum, build its trajectory mathematical model, using MATLAB simulation analysis, after understanding of inverted pendulum model, use k60 micro controller combined with PID algorithm gives the signal driven dc gear motor, and then to control the inverted pendulum system, used in the process of standing on your head swinging rod Angle encoder acquisition, processing, the Angle of swinging rod feedback on point of view, the direction of the angular velocity, the motor running direction, adjusting handstand pendulum rod by using PD algorithm, PI parameters to adjust motor speed, by double circuit PD/PI control scheme realizes the rotating arm swinging rod Angle and position closed loop control at the same time.

You might also be interested in these eBooks

Advanced Materials, Structures and Mechanical Engineering II

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 851)

Pages:

445-448

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.851.445

Citation:

Cite this paper

Online since:

August 2016

Authors:

Yang Hua, Zi Jian Yang*

Keywords:

Double Closed Loop Control, Inverted Pendulum, PID Algorithm

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] S. Cong, D. J. Zhang, Comparative Study on Three Control Methods of the Single Inverted-Pendulum System, Syst. Eng. Electron. 23(1) (2001) 47-49.

Google Scholar

[2] H. Wang, Design of Fuzzy Adaptive Controllers of One Class of Nonlinear Systems, J. Hunan U. (Natural Science), 31(6) (2004) 41-45.

Google Scholar

[3] Y. B. Feng, H. M. Cui, F. Li, The Application and Implementation of Fuzzy Control Theory in Two-Wheeled Inverted-Pendulum, Shu Xue Tong Bao, 6 (2003) 1-3.

Google Scholar

[4] Z. W. Huang, National undergraduate electronic design contest training tutorial, Beijing: Publishing House of Electronics Industry, (2010).

Google Scholar

[5] T. Yamkawaa, Stabilization of an inverted Pendulum by a high-speed fuzzy logic controller hardware system, Fuzzy Sets Syst. (1989) 161-180.

DOI: 10.1016/0165-0114(89)90252-2

Google Scholar