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Li, Bo. "Rotational Double Inverted Pendulum". University of Dayton / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1375188910.
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Houchin, Scott J. "Pendulum : controlling an inverted pendulum using fuzzy logic /". Online version of thesis, 1991. http://hdl.handle.net/1850/11294.
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Lundberg, Kent Howard. "Linear dual inverted pendulum control". Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/10767.
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Stenbeck, Filip, e Aron Nygren. "Controller Analysis with Inverted Pendulum". Thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-184515.
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The aim of this thesis is to examine if feedback of the angle from an inverted pendulum is sufficient to control its angle at an unstable equilibrium with statics and force impulses, and through different approaches and choice of controller find the most suitable one for these types of applications. The controllers that were tested was, the PID regulator and the state space regulator. The results would show that the mathematical approach to find a controller is difficult and time consuming, and it is often better to use a trial and error approach to find a regulator if repeated test on the system is possible. The core of the thesis lies in the mathematical approximations of the mechanical and electrical system, the analysis of the controller and the choice and usage of components. Analysis of the combined electrical and mechanical systems were made in Simulink and Matlab and was then generated to mechanical code to an micro controller controlling the voltage to a dc-motor. The system is non linear but can be linearised around the equilibrium point that we want to maintain, which is a good approximation for small angles. This thesis describes the electrical and mechanical components used to build a rotary inverted pendulum and how to produce an effective controller in detail.Målet med examensarbetet är att utvärdera om återkoppling av vinkeln frånen inverterad pendel är tillräcklig för att kontrollera denna kring en instabil jämviktspunkt med störningar samt pålagda kraftimpulser, och genom val av olika tillvägagångssätt och regulatorer finna den mest lämpliga för dessa typer av tillämpningar. De regulatorer som användes i projektet var PID-regulatorn samt state space regulatorn. Resultaten kom att visa att ett matematisk tillvägagångsätt att skapa en regulator är svårt och tidskrävande, och det är ofta mer effektivt att testa sig fram till en regulator om systemet tillåter. Kärnan i arbetet ligger i de matematiska approximationerna av de mekaniska och elektriska system, analysen av kontrollern och valet samt tillämpningen av komponenter. Analysen av det kombinerade elektriska och mekaniska systemen gjordes i Simulink och Matlab och var därefter genererad till mekanisk kod till en mikro-kontroller för att regulera spänningen till en likströmsmotor. Den inverterade pendeln är ett olinjärt system men kan med god approximation och litet fel linjariseras runt dess instabila jämnviktspunkt. Detta examensarbete kommer i huvudsak handla om hur man konstruerar en regulator genom simulering samt analys av systemet. Alla komponenter såväl elektriska som mekaniska kommer att beskrivas i detalj.
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Lei, Kam Kin. "Fuzzy control on double inverted pendulum". Thesis, University of Macau, 2005. http://umaclib3.umac.mo/record=b1445842.
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Cox, Bruce. "Feedback Stabilization of Inverted Pendulum Models". VCU Scholars Compass, 2005. http://scholarscompass.vcu.edu/etd/1174.
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Many mechanical systems exhibit nonlinear movement and are subject to perturbations from a desired equilibrium state. These perturbations can greatly reduce the efficiency of the systems. It is therefore desirous to analyze the asymptotic stabilizability of an equilibrium solution of nonlinear systems; an excellent method of performing these analyses is through study of Jacobian linearization's and their properties. Two enlightening examples of nonlinear mechanical systems are the Simple Inverted Pendulum and the Inverted Pendulum on a Cart (PoC). These examples provide insight into both the feasibility and usability of Jacobian linearizations of nonlinear systems, as well as demonstrate the concepts of local stability, observability, controllability and detectability of linearized systems under varying parameters. Some examples of constant disturbances and effects are considered. The ultimate goal is to examine stabilizability, through both static and dynamic feedback controllers, of mechanical systems
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Abdul, Halim Mohd Fauzul Rizal. "Single inverted pendulum with novel hardware". Thesis, Abdul Halim, Mohd Fauzul Rizal (2018) Single inverted pendulum with novel hardware. Honours thesis, Murdoch University, 2018. https://researchrepository.murdoch.edu.au/id/eprint/41058/.
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The purpose of this project is to stabilize an inverted pendulum from its rest position using a feedback control. The single inverted pendulum (SIP) is a classical nonlinear system. SIP used in this thesis consists of a pole attached to the cart and driven by a DC motor which is supplied via a motor driver. The position of the pendulum is measured by an encoder that is positioned behind the pendulum cart. SIP used in this project were controlled by a single microprocessor and programmed using a LabVIEW. The microprocessor will process the pendulum’s position, and a controller designed in LabVIEW will react according to the position of the pendulum.
Statechart design and State Machine Design are two methods used in this project to combine the swing up routine and stabilizing routine. The on-off controller is used inside the swing up routine while in stabilizing mode, four types of controller has been tested which is P, PI, PD and PID controller.
The main objective of this project is to balance the pendulum at its upright position from its stable position. Another objective of this thesis is to integrate the software and hardware of the system. Overall, this project can be considered success, and most of the objective has been achieved even though the pendulum can only be stabilized about a few second it still consider a great achievement consider that the pendulum needs to be stabilized from its rest position.
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Ni, Jie. "Control of the spatial double inverted pendulum". Thesis, McGill University, 2011. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=104855.
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The stabilization of a hip-actuated spatial double inverted pendulum can be considered as a problem of postural control of a humanoid robot. Based on an existing model of this underactuated mechanical system with four degrees of freedom, the ultimate objective is to design a suitable controller to achieve global stabilization around the unstable upright equilibrium position. This thesis presents a number of control algorithms and simulation results that provide either local stabilization or semi-global swing-up. For the effort of local stabilization in the vicinity of the upright equilibrium position, both an lqr controller and three types of linearization-based sliding mode control algorithms are presented. The region of convergence of the lqr controller is investigated. System performance and robustness against disturbances are compared for all controllers.In order to realize semi-global swing-up, two types of nonlinear sliding mode control approaches are explored for the swing up of the system in an attempt to bring the system into the region of convergence of the local linear controllers. The hybrid approach is proposed to switch from the swing-up controller to a local linear controller under certain conditions in the vicinity of the upright equilibrium to complete the stabilization effort. However, despite extensive tuning of the controllers, it has not been possible to achieve global stabilization with such an approach. Further investigation is needed in order to resolve this issue. The main contribution of this thesis is a successful extension of existing 2-dimensional sliding mode control algorithms into 3-D for the control of the spatial double inverted pendulum. The linearization-based sliding mode controllers serve as alternatives to lqr for local stabilization. The nonlinear sliding mode controllers are able bring the system from a configuration far from the upright equilibrium to the vicinity of the unstable upright equilibrium in semi-global swing-up.La stabilisation d'un double pendule spatiale inversé actionné à la hanche peut-être considérée comme un problème de contrôle de la posture d'un robot humanoïde. Basé sur un modèle existant de ce système mécanique sous-actionné avec quatre degrés de liberté, l'ultime objectif est de concevoir un régulateur approprié pour obtenir une stabilisation globale autour de l'instable position d'équilibre debout. Cette thèse présente un certain nombre d'algorithmes de contrôle et les résultats de simulation qui permettent une stabilisation locale ou semi-globale pivoter-vers-le-haut. Pour l'effort de stabilisation locale dans le voisinage de la position d'équilibre en position verticale, à la fois un contrôleur lqr et trois types de linéarisation basée sur des algorithmes de contrôle de mode glissant sont présentés. La région de la convergence du contrôleur lqr est étudiée. La performance et la robustesse du système sont comparées pour tous les contrôleurs. Afin de réaliser la strateǵie semi-globale pivoter-vers-le-haut, deux types d'approches de commande non linéaire de mode glissant sont explorés pour le balancement du système dans un essai pour amener le système dans la région de convergence locale des contrôleurs linéaires. L'approche hybride est proposée pour passer du contrôleur pour pivoter-vers-le-haut à un contrôleur linéaire local sous certaines conditions dans le voisinage de l'équilibre en position verticale afin de compléter l'effort de stabilisation. Toutefois, malgré des ajustements des contrôleurs, il n'a pas été possible de parvenir à une stabilisation globale avec une telle approche. Une enquête plus profonde est nécessaire pour résoudre ce problème. La contribution principale de cette thèse est la réussite une d'extension d'algorithmes de commande de 2-dimensions de mode glissant qui existent pour le cas de 3-D pour le contrôle du double pendule inversé spatial. Les contrôleurs de mode glissant basés sur un modèle du système linéarisé servent comme alternatives au contrôleur lqr pour la stabilisation locale. Les contrôleurs de mode glissant non-linéaires sont capables, à partir d'une configuration loin de l'équilibre de mettre le système dans la proximité de l'équilibre debout vertical utilisant le principe semi-global pivoter-vers-le-haut.
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Xinjilefu, Xinjilefu. "Stabilization of the spatial double inverted pendulum". Thesis, McGill University, 2010. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=95109.
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The stabilization of a double inverted pendulum moving in a three dimensional space may be considered to be a model of a human - and of other animals - postural control. In this thesis, we focus on modelling the spatial double inverted pendulum, and applying different control strategies to stabilize it. In modelling, we introduce three algorithms: the Natural Orthogonal Complement, the Composite Rigid Body Algorithm, and the Articulated Body Algorithm, all in the framework of Plucker coordinates. The main contribution of this thesis is we show that postural control is possible by minimization of the system Lagrangian. An stochastic programming procedure proves to be able to find oscillatory inputs that bring the system close to the unstable upright equilibrium position. In conclusion, our study demonstrates that steering complex mechanical systems may in certain cases be actually be simpler than expected.La stabilisation d'un double pendule inversé se déplaçant dans un espace à trois dimensions peut être considéré comme un modèle de la posture humaine ou animale. Dans cette thèse, nous nous concentrons sur la modélisation du pendule et sur l'application de différentes stratégies de contrôle pour le stabiliser. Dans la modélisation, nous introduisons trois algorithmes : le Complément Orthogonal Naturel, l'Algorithme du Corps Rigide Composé et l'Algorithme du Corps Articulé. Tous utilisent les coordonnées pluckeriennes. La principale contribution de cette thèse vient de la démonstration que le contrôle de la posture est possible par la minimisation du Lagrangien du sytème. Une procédure de programmation stochastique est capable de trouver la stimulation oscillatoire en entrée qui ammène le système près de la position droite en équilibre instable. En conclusion, notre étude démontre que la direction de systèmes mécaniques complexes peut, dans certains cas, s'avérer plus simple que l'on pourrait s'y attendre.
10
Ahmad, Saad. "Spatial vector modeling of the double inverted pendulum". Thesis, McGill University, 2013. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=116962.
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A model of human and animal posture control was introduced in a three dimensional space represented by 'spherical double inverted pendulum'. In this thesis, we are going to model the spatial double inverted pendulum using the spatial vector approach and we will try to balance this double inverted pendulum with a large region of attraction by an ad hoc controller presentedin this thesis. The spatial vector model is in the form of a general kinematic tree in which the joints are revolute, prismatic or helical and the forward dynamics of this model is described by the Composite Rigid Body Algorithm which is introduced with respect to the spatial vector coordinates.The main objective of this thesis is to explain the possibility of postural control by presenting a spatial vector model of the system. After all the research, it was found out that this modeling technique can be used to find oscillatory inputs that bring the system close to the unstable upright equilibrium position with an ad hoc controller.Un modèle de contrôle de posture humaine et animale fut introduit dans un espace tridimensionnel représenté par une «pendule sphérique double inversée». Dans cette thèse, nous allons modéliser la pendule double inversée spatiale en utilisant l'approche de vecteur spatial et nous tenterons d'équilibrer cette pendule double inversée avec une grande zone d'attraction à l'aide d'un contrôleur spécifique présenté dans cette thèse. Le modèle de vecteur spatial est sous forme d'un arbre général cinématique/de motion dans lequel les articulations sont rotatives, prismatiques ou hélicoïdales, et les dynamiques d'avancement de ce modèle sont décrites par l'Algorithme de corps rigide composite étant introduit en rapport aux coordonnées spatiales vectorielles.L'objectif principal de cette thèse est d'expliquer la possibilité du contrôle postural en présentant un modèle vectoriel spatial du système. Suite aux études et recherches, il fut constaté que cette technique de modélisation peut être utilisée pour identifier des données d'entrées oscillatoires qui amènent le système proche à une position d'équilibre debout instable à l'aide d'un contrôleur spécifique.
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Barton, Taylor Wallis. "Stabilizing the dual inverted pendulum : a practical approach". Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/45611.
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Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Includes bibliographical references (p. 99).
A dual inverted pendulum system, consisting of two individual pendulums of different lengths on a single cart, was fully designed and implemented as a demonstration of classical control theory. This document contains an analysis of the complete control system for both a single and dual inverted pendulum system, as well as the results of the implementation. Also presented are the all-analog systems which were used along with an industrial permanent magnet linear synchronous motor to control and drive the pendulum cart, including a voltage-controlled oscillator, three-phase switching power amplifier, and acceleration feedback controller.
by Taylor Wallis Barton.
M.Eng.
12
Fang, Lei. "Control of double link inverted pendulum with nonlinear friction". Thesis, University of Macau, 1999. http://umaclib3.umac.mo/record=b1445640.
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Shao, Jindi. "Dynamics and nonlinear control of unstable inverted pendulum systems". Thesis, Lancaster University, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.296946.
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Tartler, Brett R. (Brett Robert). "Construction and performance of an inverted pendulum thrust balance". Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/59568.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2010.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student submitted PDF version of thesis.
Includes bibliographical references (p. 133-134).
The objective of the work in this thesis was to devise a means of profiling the thrust of the MIT Space Propulsion Lab's (SPL) Diverging Cusped Field (DCF) thruster and, more generally, other thrusters of similar size and thrust levels. The former SPL thrust stand, which had been used to characterize the BHT-200 engine, was not suitable for the DCF because of its torsional style design. An entirely new, inverted pendulum-type balance needed to be built. The new design employs a vertical arm with the DCF situated at the top and a counterweight placed at the bottom. The vertical arm rotates at the fulcrum through a flexible pivot attached to a base. A horizontal thrust force from the DCF causes the balance to rotate. This motion is sensed by a linear variable differential transformer (LVDT) and counteracted by a force from a voice coil. The voice coil's neutralizing force nulls the balance back to an equilibrium position and supplies the thrust value produced by the DCF. The inverted pendulum thrust balance was built from an initial design proposed by Professor Manuel Martinez-Sanchez. Many of the electrical components found on the old thrust stand, like the LVDT and the voice coil, were incorporated into the new one. Additionally, the control software and hardware from the old stand required several changes and updates to be compatible with the new design. After the assembly of the new thrust balance, the issues of calibration and thermal drift during use were also addressed. Once a means of correcting the undesired operational forces and thermal effects had been established, the balance displayed thrust measurement within a range of 0mN to 23mN with an uncertainties as low as ±0.5mN.
by Brett R. Tartler.
S.M.
15
JOHNSSON, ALEXANDER, e TAGE RÅHLÉN. "Inverted Pendulum Stability Regarding Bandwidth and Center of Mas". Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279825.
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This bachelor thesis at the Royal Institute of Technology in Stockholm, Sweden, aims to clarify how the minimum bandwidth of a stabilised mobile inverted pendulum is affected by the position of its center of mass and the frequency of measuring the state variables. The scope is to apply basic theories in automation control and electronic systems when designing the system. The mechatronical system in the experimental trials is constructed with the main components consisting of bipolar stepper motors, stepper motor drivers (DRV8825), potentiometer and Arduino UNO. The mobile pendulum in question consists of a cart on a rail with a potentiomoter and a rod mounted to it. In the experimental trials in this paper, three different radial positions of the center of mass are analysed with regards to the bandwidth of relevant measurements. A variety of PID parameters, for both the angle and position regulation, are the essential basis on which these stability trials are performed. The results are limited to the resolution of the potentiometer outputs, the length of the rail and the stiffness of the rod. The result is presented by comparisons between data of the greatest angles which are stabilised and the corresponding maximal latency of the angle corrections. These data concludes to that the minimum required bandwidth to sustain stability decreases for an increasing length between the center of mass and the point of rotation.Denna kandidatexamensuppsats genomfördes på Kungliga Tekniska Högskolan, i Stockholm, Sverige, och har som mål att klargöra hur den minsta bandbredden för en stabiliserad inverterad pendel påverkas av positionen av dess tyngdpunkt samt nätfrekvensen av tillståndsvariablerna. Projektet omfattar grundläggande teorier om reglerteknik och elektriska system. Det mekatroniska systemet som används i experimenten är uppbyggt av följande nyckelkomponenter: bipolära stegmotorer, stegmotordrivare (DRV8825), potentionmeter och Arduino UNO. Den mobila pendeln består av en stång och en potentiometer som är monterad på en vagn löpandes på en räls. I de utförda experimenten i denna rapport analyseras tre radiella positioner på masscentrum med hänsyn till bandbredden och relevanta mätningar. En reglering med olika PID parametrar, för både vinkel- och positionsreglering, är den kritiska process som lade grunden för analyserna av stabiliteten. Resultaten är begränsade av upplösningen hos potentiometerns utsignal, längden av rälsen och stångens styvhet. Resultaten presenteras genom jämförelser mellan data för de största vinklarna som stabiliseras och de motsvarande maximala fördröjningarna. Sammanfattningsvis minskar den minst nödvändiga bandbredden för att upprätthålla stabilitet för ökande längder mellan pendelns tyngdpunkt och rotationspunkten.
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Ingram, Stephen D. "Visual Feedback Stabilisation of a Cart Inverted Pendulum A". Thesis, University of Bradford, 2016. http://hdl.handle.net/10454/17375.
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Vision-based object stabilisation is an exciting and challenging area of research, and is one that promises great technical advancements in the field of computer vision. As humans, we are capable of a tremendous array of skilful interactions, particularly when balancing unstable objects that have complex, non-linear dynamics. These complex dynamics impose a difficult control problem, since the object must be stabilised through collaboration between applied forces and vision-based feedback. To coordinate our actions and facilitate delivery of precise amounts of muscle torque, we primarily use our eyes to provide feedback in a closed-loop control scheme. This ability to control an inherently unstable object by vision-only feedback demonstrates an exceptionally high degree of voluntary motor skill. Despite the pervasiveness of vision-based stabilisation in humans and animals, relatively little is known about the neural strategies used to achieve this task.
In the last few decades, with advancements in technology, we have tried to impart the skill of vision-based object stabilisation to machines, with varying degrees of success. Within the context of this research, we continue this pursuit by employing the classic Cart Inverted Pendulum; an inherently unstable, non-linear system to investigate dynamic object balancing by vision-only feedback. The Inverted Pendulum is considered to be one of the most fundamental benchmark systems in control theory; as a platform, it provides us with a strong, well established test bed for this research.
We seek to discover what strategies are used to stabilise the Cart Inverted Pendulum, and to determine if these strategies can be deployed in Real-Time, using cost-effective solutions. The thesis confronts, and overcomes the problems imposed by low-bandwidth USB cameras; such as poor colour-balance, image noise and low frame rates etc., to successfully achieve vision-based stabilisation.
The thesis presents a comprehensive vision-based control system that is capable of balancing an inverted pendulum with a resting oscillation of approximately ±1º. We employ a novel, segment-based location and tracking algorithm, which was found to have excellent noise immunity and enhanced robustness. We successfully demonstrate the resilience of the tracking and pose estimation algorithm against visual disturbances in Real-Time, and with minimal recovery delay. The algorithm was evaluated against peer reviewed research; in terms of processing time, amplitude of oscillation, measurement accuracy and resting oscillation. For each key performance indicator, our system was found to be superior in many cases to that found in the literature.
The thesis also delivers a complete test software environment, where vision-based algorithms can be evaluated. This environment includes a flexible tracking model generator to allow customisation of visual markers used by the system. We conclude by successfully performing off-line optimization of our method by means of Artificial Neural Networks, to achieve a significant improvement in angle measurement accuracy.Goodrich Engine Control Systems and Balfour Beatty Rail Technologies
17
Castro, Arnoldo. "Modeling and dynamic analysis of a two-wheeled inverted-pendulum". Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/44897.
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There is a need for smaller and more economic transportation systems. Two-wheeled inverted-pendulum machines, such as the Segway, have been proposed to address this need. However, the Segway places the operator on top of a naturally unstable platform that is stabilized by means of a control system. The control stability of the Segway can be severely affected when minor disturbances or unanticipated conditions arise. In this thesis, a dynamic model of a Segway is developed and used in simulations of various conditions that can arise during normal use. The dynamic model of a general two-wheeled inverted pendulum and human rider is presented. Initial estimates of the parameters were calculated or obtained from other references. The results from numerous experiments are presented and used to develop a better understanding of the dynamics of the vehicle. The experimental data was then used to adjust the model parameters to match the dynamics of a real Segway Human Transporter. Finally, the model was used to simulate various failure conditions. The simulations provide a better understanding of how these conditions arise, and help identify which parameters play an important role in their outcome.
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Oyama, Hiroshi, Takayuki Ukai, Hiroaki Takada e Takuya Azumi. "Wheeled Inverted Pendulum with Embedded Component System : A Case Study". IEEE, 2010. http://hdl.handle.net/2237/14474.
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Henders, Michael G. "Nonlinear dynamics of the inverted pendulum under linear-feedback stabilization". Thesis, University of British Columbia, 1991. http://hdl.handle.net/2429/29971.
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Analysis is conducted on a linear control system used for the stabilization of an inverted pendulum, examining the behaviour of the system throughout its global state space. The dynamic equations of the inverted pendulum are obtained, and a linear state-feedback controller is designed, based on this system model, for its stabilization. The behaviour of the resulting closed-loop system is examined through simulation, in two stages.
In the first stage, the feedback controller is modified slightly to decouple the pendulum dynamics from those of its supporting cart, permitting examination of the pendulum dynamics in a two-dimensional state space, using phase plane analysis. In this way, a globally valid description of the pendulum dynamics is obtained, revealing the existence of two state attractors in this modified system. The feedback controller is seen to create a stable point attractor in the phase plane, as intended, but the basin of attraction of this point is of unusual shape and limited extent, due to the nonlinearity of the pendulum dynamics. All initial system states outside this basin are drawn to the second state attractor, which is a stable limit cycle.
As the second stage of analysis, the system is examined with its original controller; characterization of the overall dynamics then requires a four-dimensional state space. The continued existence of a point attractor at the state space origin is demonstrated, and the basin of attraction of this point is mapped numerically, using a state space sampling algorithm, which might readily be applied to the analysis of other dynamic systems. This basin is presented as a series of three-dimensional sections of the full four-dimensional region; taken together, these sections outline the entire basin map. The boundaries of the origin-bound basin are seen to be highly irregular, and potentially fractal in nature.
The existence of an infinite set of such four-dimensional stability regions is demonstrated, and complex, potentially chaotic, behaviour is observed outside the basins of attraction; it is not clear whether or not a four-dimensional counterpart of the limit cycle (from the first stage analysis) exists.Applied Science, Faculty of
Electrical and Computer Engineering, Department of
Graduate
20
Kong, Kou A. "Fuzzy logic PD control of a non-linear inverted flexible pendulum". [Chico, Calif. : California State University, Chico], 2009. http://hdl.handle.net/10211.4/90.
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Cheang, Sek Un. "Robust control system design : H∞ loop shaping for double inverted pendulum". Thesis, University of Macau, 2002. http://umaclib3.umac.mo/record=b1445662.
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Maeda, Ken. "Nonlinear control system of inverted pendulum based on input-output linearization". Diss., Online access via UMI:, 2006.
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23
Chen, Yuh-Kae, e 陳裕愷. "Position control of inverted pendulum". Thesis, 1994. http://ndltd.ncl.edu.tw/handle/06752898159523446014.
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Li, Jia-Sung, e 李珈松. "Wheeled Inverted Pendulum Balancing PID Control". Thesis, 2005. http://ndltd.ncl.edu.tw/handle/50754272331923912328.
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碩士國立臺灣科技大學
電機工程系
93
The aim of the thesis is to control a wheeled inverted pendulum to stand up and remain balancing in the upright state by itself. The control system consists of single chip microcontroller PIC18F452 and a DC servo motor driver. A tilt sensor and a gyroscope are used to measure the tilt angle and its angular velocity of the inverted pendulum for realizing the balance control. Computer simulations and experimental results are performed to illustrate the feasibility of the proposed PID control method.
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Lyu, Yue-ying, e 呂岳穎. "Balance Control of Inverted Pendulum Systems". Thesis, 2010. http://ndltd.ncl.edu.tw/handle/69175544735647569366.
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碩士國立臺灣科技大學
機械工程系
98
The subject of this thesis is to design a balance controller used for a rotary inverted pendulum system and a double inverted pendulum system. For the rotary inverted pendulum system, the controllers designed by pole-placement method, LQR, and LQR combined with PI controller is discussed, and computer simulations are done to see which method is most appropriate for the real system. After that, the thesis focuses on the LQR controller to analyze the difference between simulation and experimental results. By using an L9 orthogonal array, from the Taguchi method, to adjust the feedback gains, representation of results for four different inputs is observed. Under condition where the length between links is relatively small, 120 combinations of different feedback gains and adjusted length and weight of attached links are simulated in order to understand the relative parameters between different sized links and different feedback gains. To test the conclusions made from the computer simulations, physical experiments are done to prove the relationships to be useful and reasonable. Finally, the thesis discusses the application of the LQR control theory into the double inverted pendulum system; the reason why the links wave continuously is discussed.
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Hung, Hsin-Chieh, e 洪信介. "DSP-based Inverted Pendulum System Implementation". Thesis, 2010. http://ndltd.ncl.edu.tw/handle/13770622869708532962.
Texto completo da fonteResumo:
碩士國立臺灣海洋大學
電機工程學系
98
An inverted pendulum is a nonlinear, unstable and non-minimum phase system. It is a popular experimental platform for control theory verification. In the thesis, a digital signal processor (DSP) is used to control the inverted pendulum cart system. The DSP has the sufficient computational power and facilities to sense, process and control the pendulum system in real time. In this experiment, the VP2812EVM DSP board is combined with the incremental encoder, DC motor and other related circuits to perform tasks of system identification and balancing control.
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Chin-Jung, Yeh. "Adaptive Decoupling Controller Design for Inverted Pendulum". 2006. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0009-1707200618552000.
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28
DABRETAU, Teerapong, e Ali DAREINI. "Control of Double Inverted Pendulum First Approach". Thesis, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-1058.
Texto completo da fonteResumo:
An Inverted double pendulum is a combination of two individual pendulums which represents an example of a nonlinear and unstable dynamic system and it is also a good example of a physical system which can exhibit chaotic behavior.This document contains a first analysis of the model and the control of this system. Also presented is the installation of the electrical materials needed to control the system contain instrumenting the motor, current measurement system, motor shaft angle sensor, vision systemand MYRIO which is an embedded hardware device created by National Instruments will be used for data acquisition and control the system
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Li, Zhi Shan, e 李志山. "Digital control of a double inverted pendulum". Thesis, 1995. http://ndltd.ncl.edu.tw/handle/65603130358180190872.
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30
CHEN, BO REN, e 沈博仁. "Intelligent Control Design for Inverted Pendulum System". Thesis, 1995. http://ndltd.ncl.edu.tw/handle/18982137908968688964.
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31
Chen, Shin-Yuan, e 陳信元. "Intelligent Control for Flywheel Inverted Pendulum System". Thesis, 2013. http://ndltd.ncl.edu.tw/handle/74625129104425031641.
Texto completo da fonteResumo:
碩士清雲科技大學
機械工程所
101
This study is proposed the flywheel inverted pendulum (FIP), the newest inverted-pendulum-like device for control education and research. The flywheel inverted pendulum exhibits several properties, such as under-actuation and nonlinearity, which make it an appealing and valuable for research, industry application, and advanced control lab course. From a mechanical viewpoint, the proposed FIP system is a simple pendulum with a rotating wheel at the end. It owns two degrees of freedom. The wheel is attached to the shaft of a DC motor, and the coupling torque between the wheel and pendulum can be used to control the motion of the system. The objectives of the research are to construct a novel prototype and develop control environment for FIP system. The dynamic equation based on Lagrangian formulation has been developed. The controller was implemented using MATLAB and Simulink during experiments. The control algorithm is divided into three steps: swing-up, standing up, and balancing. Moreover, several controllers which include Proportional-Integral-Derivative (PID), Linear Quadratic Regulator (LQR), and Adaptive-Network-Fuzzy-Inference (ANFIS), have been implemented for such model verification.
32
Yeh, Chin-Jung, e 葉晉榮. "Adaptive Decoupling Controller Design for Inverted Pendulum". Thesis, 2006. http://ndltd.ncl.edu.tw/handle/96611928790520848556.
Texto completo da fonteResumo:
碩士元智大學
電機工程學系
94
The inverted pendulum system is a typical fourth-order nonlinear, time-varying, coupling, and unstable dynamic system. In this study, an adaptive decoupled fuzzy sliding-mode controller (ADFSMC) is proposed to achieve the control objectives of the inverted pendulum system. In the ADFSMC, the whole fourth-order nonlinear system is decoupled into two second-order subsystems. The control action is combined with main subsystem and secondary subsystem to make both subsystems moving toward their sliding surfaces, respectively. Moreover, an adaptive law based on Lyapunov stability theory can online tune the fuzzy control rules and the bound of uncertainty approximation error, so that the whole system’s stability can be guaranteed. Finally, we utilize the ADFSMC to control the actual inverted pendulum system. From the experimental results, it is shown that the ADFSMC can achieve the control objectives and can overcome the external disturbance.
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Chen, Yun-Yo, e 陳俞佑. "Nonlinear controller design for the inverted pendulum". Thesis, 1994. http://ndltd.ncl.edu.tw/handle/42094654684893519611.
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Chen, Yu-You, e 陳俞佑. "Nonlinear controller design for the inverted pendulum". Thesis, 1994. http://ndltd.ncl.edu.tw/handle/49408539363769065445.
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35
Lai, Yi-Hsien, e 賴一賢. "Composite Fuzzy Control of Rotary Inverted Pendulum". Thesis, 2012. http://ndltd.ncl.edu.tw/handle/26418299432167309294.
Texto completo da fonteResumo:
碩士崑山科技大學
電機工程研究所
101
The objective of this thesis is to investigate the balance control of a rotary inverted pendulum. The controller is a digital signal processor (DSP). There are two types of a rotary inverted pendulum (RIP), they are the vertical type RIP and the parallel type RIP. The RIP system is essentially nonlinear and unstable, it is often used to verify many control theory in the field of nonlinear control today. The RIP system is an appropriate control of the educational tool. In this thesis, the composite fuzzy control (CFC) method is proposed to balance and stabilize the RIP system. This method is to take fuzzy PD controls of the drive arm and rotary arm. Then take the fuzzy computation of these two controls finally. By analysis, CFC method is essentially the state feedback control. Hence, the stability is guaranteed in the matter of the state feedback control. Fuzzy control continues to be developed over the four decades, because it both excellent robustness for nonlinear and unstable system, and eliminate disturbances. Hence, fuzzy control is a useful control tool. In this thesis, the CFC is proposed and adapted in the RIP system. This method is simple and systematic to stabilize the RIP system. Finally, experiment results are demonstrated the proposed scheme.
36
Hsu, Chih-Wei, e 許志偉. "Controller Design of an Inverted Pendulum System". Thesis, 2016. http://ndltd.ncl.edu.tw/handle/a4baja.
Texto completo da fonteResumo:
碩士國立虎尾科技大學
飛機工程系航空與電子科技碩士班
104
The inverted pendulum is an inherently unstable and nonlinear dynamic system which is used to verify the feasibility of nonlinear control theories. This study aims to build up a dynamic model of a rotary inverted pendulum and design controllers in which the optimal control design method based on linear dynamic model and the sliding mode control method based on nonlinear dynamic model are respectively adopted.Moreover, the LabVIEW is used to implement the controller design and evaluate the performance of two controller designs for comparison.
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Chiu, Hua-hsu, e 邱華澍. "Design and Control of a Novel Inverted Pendulum". Thesis, 2005. http://ndltd.ncl.edu.tw/handle/87503835789379028895.
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碩士國立雲林科技大學
機械工程系碩士班
93
In this thesis, we design and control of a novel inverted pendulum. We could derive the mathematical model of inverted pendulum using Euler-Lagrange’s equations. In addition, we applied linear and nonlinear control schemes to our new inverted pendulum. Moreover, we performed payload estimation and control compensation to take into consideration the variation of the payload. In the experiment, we utilized TI’s TMS320C6711 DSP with a FPGA as our control kernel. Moreover, we establish an interface to two shaft encoders, ADCs and DACs using hardware description language (VHDL). For implementing control laws, we applied the C/C++ language as a tool. Concerning linear controls, we utilized Linear State Feedback to control the inverted pendulum. Regarding non-linear controls, we employed Multiple-Loop Design, Conventional Integrator Backstepping Design, Partial State Backstepping Design, Sub-System Backstepping Design. Furthermore, we simulated all these control schemes using the Matlab software to confirm the feasibility of all controllers, and then implemented all this control schemes in our inverted pendulum system.
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Yang, Cho-Han, e 楊卓翰. "DSP-Based Control of Two-Wheeled Inverted Pendulum". Thesis, 2014. http://ndltd.ncl.edu.tw/handle/b2wg9p.
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碩士國立臺灣海洋大學
電機工程學系
102
This thesis considers the design of DSP28335-based balance controllers for a two-wheeled inverted pendulum control system. The design goal is to maintain balance of the two-wheeled inverted pendulum. A gyroscope is used to measure the angular velocity of the car body. Then, the angular of the car body can be derived by integrating the obtained angular velocity. Moreover, a motor encoder is utilized to measure the position of the car body. And then the velocity of the car body can be derived by the obtained position information. Finally, an infrared ray sensor is applied for correcting the angular deviation. We design PID, pole placement, and sliding mode controllers for the two-wheeled inverted pendulum to achieve the desired performance. Experiment results show that the sliding mode controller provides a better performance in our two-wheeled inverted pendulum control system than the other two control laws.
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CHIEN, LI-CHIEH, e 簡立杰. "Balance Control of Inertia Pole Inverted Pendulum Systems". Thesis, 2006. http://ndltd.ncl.edu.tw/handle/42875419644751417691.
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碩士國立成功大學
工程科學系碩博士班
94
Abstract The inertia pole inverted pendulum system is an unstable nonlinear system. The mechanism of this system is not complicated. Because of this reason, this system provides a platform for verifying the effectiveness of different control schemes. In this thesis, it is first shown how to build up an inertia pole inverted pendulum system. Then the mathematical model of the inertia pole inverted pendulum is derived and also the DC motor model is obtained. The objective of this research is to balance the pendulum at the unstable position. The balance controller design is based on the LQR control theory. MATLAB/Simulink are used to design and simulate the control system. Finally, the control law is implemented using a digital signal processor with programs coded in C language and assembly. The experimental results are given to demonstrate the effectiveness of the control system.
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Zhong, Zeng Guo, e 曾國忠. "Upright and Position Control for Inverted-Pendulum System". Thesis, 2005. http://ndltd.ncl.edu.tw/handle/94728724044714261778.
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碩士大葉大學
電機工程學系碩士班
93
An inverted pendulum system is not too complicated, even it is a highly nonlinear unstable system. We hence adopt various approaches for upright and position control of this physical system. In this research, we first analyze and construct the mathematical models of a car, a pendulum and motor. And then, based on these models, the corresponding LQR and Pole-Placement controller is proposed for the upright and even the position control of the actuator- inverted-pendulum system. We use Matlab software to simulate and demonstrate that the designed controllers can stabilize the inverted pendulum system as well. For implementation, we use Matlab/Simulink for human-machine interface manipulation, write C codes for DSP chip, which via AD/DA card, can convey the control action to drive the actuator-included inverted pendulum system modules for implementation of the upright and position control of the whole inverted pendulum system. To achieve fast and effective control, the fuzzy and neural techniques are combined with LQR/Pole-Placement approaches as fuzzy-neural-based LQR/Pole-Placement controller to improve the position-control of the inverted physical system.
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Chu, Sheng-Renn, e 朱勝任. "control of parallel-type double inverted pendulum system". Thesis, 1996. http://ndltd.ncl.edu.tw/handle/23432671219615228623.
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碩士國立交通大學
控制工程系
84
This thesis is concerned with the analysis and control of a specific type of pendulum-cart mechanical system: parallel-type double inverted pendulum system. Detailed analysis of controllability and stability is presented. The control goal of the system is " both pendulums are stabilized at the upright position and the cart follows the reference position". The sliding mode controller (SMC) and the linear state feedback controller (LSFC) are developed to obtain the desired performance. The design process and simulation results are included and analyzed. The experimental system is constructed and its control system is implemented by a 32-bit personal computer. The feasibility of the discretized system with SMC or LSFC are also demonstrated.
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Huang, Jian Luo, e 黃見駱. "Application of intelligent control on the inverted pendulum". Thesis, 1994. http://ndltd.ncl.edu.tw/handle/92322962753335057163.
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Lin, Hou-Heng, e 林厚亨. "Control and design of rotation inverted pendulum system". Thesis, 2001. http://ndltd.ncl.edu.tw/handle/69816148840739681522.
Texto completo da fonteResumo:
碩士大葉大學
自動化工程研究所
89
Inverted pendulum systems are nonlinear and unstable systems. They are usually used to verify the effectiveness of the proposed control schemes. This paper proposes two controllers in the inverted pendulum system. First one is to linearize this non-linear system and uses the linear theory to design a status feedback controller. Second one proposes a design method of Fuzzy Logic Controller with H-infinite (sub) Robust Control feature. A steady reference model was designed first. The input of this model was the angle of swinging arm and the output was the following angle of the inverted pendulum. One fuzzy system was used to simulate the non-linear dynamic part of this pendulum system. The Fuzzy logic controller with H-infinite (sub) Robust Control feature developed from this fuzzy system was used to force the angle of inverted pendulum to be coincided with the output of the reference model. When the error of these two became near zero, the inverted pendulum became inverted on the vertical position and the angle of swinging arm was close to the original zero position. According to the H-infinite (sub) Robust steady design technique, the error emerged in the fuzzy simulation process can be compensated. The bad effect resulting from this error can be suppressed within any intended ranges. Furthermore, a real swinging type inverted pendulum system was simulated in order to verify the effectiveness of the method proposed in this paper.
44
Lin, Hsin-Yu, e 林信佑. "Adaptive Control for Two-Mass Inverted Pendulum System". Thesis, 2008. http://ndltd.ncl.edu.tw/handle/75503089546762107532.
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碩士國立屏東科技大學
車輛工程系所
96
In this thesis, the development and implementation of an adaptive control scheme for tracking and stabilization of a two-mass inverted pendulum system has been presented. By utilizing Lyapunov-based stability analysis, the effectiveness of the proposed controller has been demonstrated. In addition, the feasibility of the controller is also demonstrated by computer simulation and experiments.
45
Chen, Li-Fu, e 陳立夫. "Multirate Feedforward Tracking Control for an Inverted Pendulum". Thesis, 2003. http://ndltd.ncl.edu.tw/handle/71735348880837029360.
Texto completo da fonteResumo:
碩士國立屏東科技大學
機械工程系
91
This thesis about build a Multirate Feedforward Tracking Control for an Inverted Pendulum. The research work includes comparing with Feedforward Tracking Control. The advantages of the proposed method are (1)the proposed multirate feedforward controller eliminates the notorious unstable zero problem in designing the discrete-time inverse system, (2)the states of the plant match the desired trajectories at every sampling point of reference input, and (3)the feedback characteristics are completely independent of the proposed controller. Next, it is shown that the structure of the Multirate Feedforward Tracking Control for an Inverted Pendulum is very simple and clear. In addition, we performed an optimal parameter design for the an Inverted Pendulum System structure by using the Taguchi Techniques.
46
Chiu, Hua Yen, e 邱華彥. "Controllers Design for a Two-Wheeled Inverted Pendulum". Thesis, 2016. http://ndltd.ncl.edu.tw/handle/88905300381920938005.
Texto completo da fonteResumo:
碩士國立臺灣海洋大學
電機工程學系
104
The goal of this thesis is to design DSP28335-based balancing controllers for a two-wheeled inverted pendulum. First, we derived the dynamic equations of the two-wheeled inverted pendulum by Newton-Euler method. Then, based on the obtained dynamic equation, a LQR controller, a robust controller, and a PID controller are designed to balance the inverted pendulum. We compare and analyze the results obtained by different control methods by simulations and experiments. We use a gyroscope and an accelerometer to measure angular velocity and tilt angle of the system. A complementary filter is used here to improve the measurement precision of the tilt angle.
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Lu, Yu-Ju, e 呂育儒. "Modeling and Control of an Inverted Pendulum System". Thesis, 2007. http://ndltd.ncl.edu.tw/handle/43621979279238321136.
Texto completo da fonteResumo:
碩士臺灣大學
機械工程學研究所
95
The thesis discusses the controller design and implementation for inverted pendulum systems. Due to the nonlinear and non-minimum phase properties, inverted pendulum systems have been intensively studied in the control field. In this thesis, we focus on the control design of a Furuta pendulum to swing the it up from the bottom stable equilibrium point and balance it at the top unstable equilibrium. Several control algorithms are adopted to design the balanced controller, namely LQR control, sliding mode control, sub-optimal control, normalized coprime factorization control, and the fixed-order control. The performance and robustness of these controllers are compared by simulation and experimental results. Finally, we design and implement a fixed-order controller for a pendubot system.
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Chen, I.-Zu, e 陳奕儒. "Upright and Position Control of Rotational Inverted Pendulum". Thesis, 1997. http://ndltd.ncl.edu.tw/handle/27522073922034721477.
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碩士國立中央大學
電機工程學系
85
In this paper we use Fuzzy Theory and design a Fuzzzy Controller to imply a new plane "Rotational Inverted Pendulum" . In order to control the Angel and Position of the Inverted Pendulum ,We must desige two controller for Angeland Position respectively and use "Inner and Outer loop" combining two controller.In the result we can make the Rotational Inverted Pendulum upright and locate in the position we set.
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Li, Chih-Chieh, e 李志傑. "Control Research of DSP-Based Rotary Inverted Pendulum". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/50151553709424761629.
Texto completo da fonteResumo:
碩士崑山科技大學
電機工程研究所
97
In this thesis, the control research of Dsp-based rotary inverted pendulum is investigated. Both of swing-up and balance controls are explored. The rotary inverted pendulum system is nonlinear and unstable inherently. Hence it is useful to illustrate many ideas in the field of nonlinear control. Up to now, the rotary inverted pendulum has been an excellent control educational tool. In this thesis, the energy-based method is utilized to swing up the pendulum. There are two methods for balancing the pendulum. They are control and fuzzy sliding mode control. The methodology can model and reject system disturbances effectively. The popularity of the sliding mode control has been increasing over the last decades because its ability to consider robustness issues to modeling uncertainties and disturbances. The fuzzy sliding mode control integrates the fuzzy control and the sliding mode control. It provides a simple way to achieve asymptotic stability of the system. The experimental results illustrate the proposed schemes successfully.
50
Shih, Ying-Yen, e 施纓諺. "Swing-Up Controller Design of Rotary Inverted Pendulum". Thesis, 2014. http://ndltd.ncl.edu.tw/handle/99308884810405413071.
Texto completo da fonteResumo:
碩士國立交通大學
電機學院電機與控制學程
102
The purpose of this thesis is to design the swing-up controller of the rotary inverted pendulum, or RIP in short, and verify it by numerical simulation in three cases. The first case is to check the existence of gain Sigma >0 such that the RIP can be swung up from the initial down-right position to a desired switching region –Epsilon < Gamma < Epsilonwhere Epsilon=30°. In the second case, from the simulation results with the fixed switching region -30°< Gamma < 30°, the upper bound max and the lower bound min of the input gain Sigma are determined, i.e., to search the appropriate range Sigma-min < Sigma < Sigma-max. The third case employs the maximum gain Sigma-max to find the possibility of different switch region -Epsilon < Gamma < Epsilon. Base on above experimentation results, the Sigma value must in an appropriate range Sigma-min < Sigma < Sigma-max which make a suitable thetadot value and let RIP swing up to vertical position.