Inverted Pendulum 01

Topics: Control theory, Feedback, Control engineering Pages: 7 (1602 words) Published: December 2, 2014
Industrial Science
Vol.1,Issue.1/Oct. 2013

ISSN : 2347-5420

Research Papers

REAL TIME MODELLING AND BALANCE CONTROLLER DESIGN
FOR A ROTARY INVERTED PENDULUM – USING LabVIEW

V.VIJAYALAKSHMI , Z.JENIFER AND ANDY SRINIVASAN
M.E. II year (C&I ), Valliammai Engineering College SRM Nagar, Kattankulathur Kancheepuram district Asst. Professor Valliammai Engg., College SRM Nagar, kattankulathur Kancheepuram district Prof & Head, E&I Dept.,Valliammai Engg., CollegeSRM Nagar, Kattankulathur Kancheepuram dist

Abstract
The Quanser Rotary Inverted Pendulum is highly non-linear, open loop and unstable system. Solving the operation of the Quanser rotary inverted pendulum is one of the classical and fundamental problems in the area of control theory. The practical controller design and implementation for such a system is a challenging task. The main objective is to design a stabilizing controller that balances the inverted pendulum in the up-right position. This paper describes modern control technique that include Full State Feedback (FSF) controller design to control the Rotary Inverted Pendulum using LabVIEW Interface.

KEY WORDS:
FSF (Full state-feedback), LabVIEW (Laboratory Virtual Instrumentation Engineering Workbench), Quanser Rotary Inverted Pendulum, Stabilizing Controller. INTRODUCTION
There is a lot of research that has been done on the of quanser rotary inverted pendulum. This is good topic for application of different control strategies. The principle of its stabilization can be found at many devices. Most famous equipment is Segaway. It is self - balancing robotic mobility platform for personal transport. Further applications of the stabilization inverted pendulum principle have been use in the literature. In paper [1] Kumagai and Ochiai designed a robot which balanced on a ball. Robot could be realized using two mechanisms, one was inverted pendulum control in two directions and other was an omnidirectional mechanism for driving the ball. Gaiceanu and Stan used this stabilization system to motion control of a Single-beam gantry crane trolley [2]. There are many other facilities where it is possible to apply principle of the inverted pendulum stabilization. The rotary inverted pendulum is highly nonlinear and open-loop unstable system. The controller design for such a system is a challenging task. The most commonly use control system is PID controller. It consists of three separate parameters, proportional, integral and derivative. Proposal of these parameters to achieve the desired behavior as settling time, overshoot and steady state error is not easy. Although it can be done using Simulink Control Design PID Tuner to tune PID gains automatically in a Simulink model. To design of feedback controller, there are also other techniques such as Niquist and Bode plots or root locus plots.

Another alternative is the use of state-feedback control system also known as pole placement. Placing poles is desirable because the location of the poles determines the eigenvalues of the system, which controls the characteristics of the system response. State-feedback algorithm is actually an automated technique to find an appropriate state-feedback controller [3]. In this paper we study stabilization problem of the rotary inverted pendulum and the design of 1

REAL TIME MODELLING AND BALANCE CONTROLLER DESIGN FOR A ROTARY........

Vol.1,Issue.1/Oct. 2013

control system using pole placement technique is presented. Experiments have been done in LabVIEW environment and in real-time experiments on the rotary inverted pendulum system. II. ROTARY INVERTED PENDULUM MODEL

(1) Mathematical model
A mathematical model is the set of equations which describe the behavior of the system. A state space representation is a mathematical model of a physical system as a set of input, output and state variables related by first-order differential equations. The state space representation provides a convenient and compact way to...

References: Vol.1,Issue.1/Oct. 2013
September 2010.
Mechatronics and Automation (ICMA). Xi 'an. pp. 1342 - 1347,August 2010.
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