Development of Two-Wheeled Balancing Scooter

2013 ◽  
Vol 339 ◽  
pp. 16-21
Author(s):  
Surachai Panich
Keyword(s):  
Mathematical Model ◽  
Pid Controller ◽  
Inverted Pendulum ◽  
Electronic Circuit ◽  
Nonlinear Behavior ◽  
Vertical Line ◽  
Angle Error ◽  
Zero Degree ◽  
Gyroscope Sensor ◽  
The Mathematical Model

In this paper, the design and construction of two-wheeled balancing scooter based on principle of the inverted pendulum that it must keep an angle of zero degree due to vertical line in time. The mechanical structure, electronic circuit and algorithm are developed to control motors and gyroscope sensor is used as detector of angle error due to vertical line. The mathematical model to describe the dynamic behavior of balancing system is analyzed, which stabilizes the handle angle of scooter in stable position. A basic implementation of the PID controller is conducted to compensate nonlinear behavior.

Mathematical Model Based Attitude Control of Inverted Pendulum Type Mobile Robot

2015 ◽  
Vol 789-790 ◽  
pp. 700-704
Author(s):  
Jin Ho Yoon ◽  
Ah Do Ko ◽  
Kil Hwan Choi ◽  
Hyoung Bae Park ◽  
Myung Jin Chung
Keyword(s):  
Mathematical Model ◽  
Mobile Robot ◽  
Attitude Control ◽  
Pid Controller ◽  
Inverted Pendulum ◽  
Control Method ◽  
State Space Model ◽  
Estimated Parameters ◽  
The Mathematical Model ◽  
Robot Platform

In this paper, attitude control method based on mathematical model for inverted pendulum type mobile robot was proposed. After the inverted pendulum type mobile robot platform was designed, a mathematical modeling was performed. Also, the motor parameters and the mechanism parameters were estimated, and then the estimated parameters were substituted into the mathematical model to obtain the state-space model of mobile robot platform. Using this, a PID controller was designed, and simulations were performed. Also, the experiments were performed after applying it to the mobile robot platform. The simulation and experimental results were obtained similarly, and attitude control performance was excellent.

Optimization Control of the Bullwhip Effect in Supply Chain Inventory

2014 ◽  
Vol 945-949 ◽  
pp. 3187-3190
Author(s):  
Hai Dong ◽  
Jin Hua Liu ◽  
Liang Yu Liu
Keyword(s):  
Mathematical Model ◽  
Supply Chain ◽  
Control Theory ◽  
Inventory Control ◽  
Pid Controller ◽  
Bullwhip Effect ◽  
Control Gain ◽  
Optimization Control ◽  
Suitable Combination ◽  
The Mathematical Model

The bullwhip effect was caused by fuzzy demand among the enterprises. In order to reduce this effect, control theory was applied to solve the inventory in supply chain. Firstly, inventory control in supply chain and the bullwhip effect was researched. Secondly, a kind of proportional integral differential (PID) controller was developed for inventory control in a three-level supply chain, and the mathematical model of the PID controller for inventory control was presented. Finally, the results show that the PID controller can evidently alleviate the bullwhip effect and inventory fluctuations under the suitable combination of control gain.

Nonlinear dynamic analysis of a Stockbridge damper

2019 ◽  
Vol 46 (9) ◽  
pp. 828-835
Author(s):  
Nilson Barbieri ◽  
Marlon Elias Marchi ◽  
Marcos José Mannala ◽  
Renato Barbieri ◽  
Lucas de Sant’Anna Vitor Barbieri ◽  
...  
Keyword(s):  
Experimental Data ◽  
Mathematical Model ◽  
Nonlinear Dynamic Analysis ◽  
Nonlinear Behavior ◽  
Vibration Data ◽  
Electric Transmission Line ◽  
Good Concordance ◽  
Tip Mass ◽  
The Mathematical Model ◽  
Stockbridge Damper

The purpose of this work is to validate a nonlinear mathematical model (finite element method) for dynamic simulation of Stockbridge dampers of electric transmission line cables. To obtain the mathematical model, a nonlinear cantilever beam with a tip mass was used. The mathematical model incorporates a nonlinear stiffness matrix of the element due to the nonlinear curvature effect of the beam. To validate the mathematical model, the numerical results were compared with experimental data obtained on a machine adapted from cam test. Five different circular cam profiles with eccentricities of 0.25, 0.5, 0.75, 1.25, and 1.5 mm were used. Vibration data were collected through three accelerometers arranged along the sample. A good concordance was found between the numerical and experimental data. The same behavior was observed in tests of another Stockbridge damper excited by a shaker. The nonlinear behavior of the system was evidenced.

The Application of Double Closed-Loop Unit Gain Negative Feedback and BP Neural Network Controller in Single Inverted Pendulum

2012 ◽  
Vol 490-495 ◽  
pp. 1723-1727
Author(s):  
Jun Ting Wang ◽  
Guo Ping Liu ◽  
Wei Jin ◽  
Gen Fu Xiao
Keyword(s):  
Neural Network ◽  
Mathematical Model ◽  
Negative Feedback ◽  
Bp Neural Network ◽  
Closed Loop ◽  
Inverted Pendulum ◽  
Root Locus ◽  
Neural Network Controller ◽  
Network Controller ◽  
The Mathematical Model

In the paper the mathematical model of the single inverted pendulum is established, on the base of the root locus and the control tasks the control system is made up of double closed-loop unit gain negative feedback and BP neural network controller. The results show that the inverted pendulum is efficiently controlled.

A Method for Attitude Control Based on a Mathematical Model for an Inverted Pendulum-Type Mobile Robot

2016 ◽  
Vol 6 (1) ◽  
pp. 198
Author(s):  
Jin-Ho Yoon ◽  
Myung-Jin Chung
Keyword(s):  
Mathematical Model ◽  
Mobile Robot ◽  
Attitude Control ◽  
Pid Controller ◽  
Inverted Pendulum ◽  
Control Method ◽  
State Space Model ◽  
Initial State ◽  
Estimated Parameters ◽  
Linear Elements

A method for attitude control based on a mathematical model for an inverted pendulum-type mobile robot was proposed. The inverted pendulum-type mobile robot was designed and the mathematical modeling was conducted. The parameters of the mobile robot were estimated and the state-space model of mobile robot was obtained by the substitution of the estimated parameters into the mathematical model. The transfer function of the mobile robot is applied to generate the root-locus diagram used for the estimation of the gains of the PID controller. The attitude control method including a PID controller, non-linear elements, and integral saturation prevention was designed and simulated. The experiment was conducted by applying the method to the mobile robot. In the attitude control experiment, the performance of attitude recovery from ±12° tilted initial state with a settling time of 0.98s and a percent overshoot of 40.1% was obtained. Furthermore, the attitude maintaining robustness against disturbance was verified.

MODELING AND SIMULATION OF AUTOMOBILE ANTI-LOCK BRAKING SYSTEM BASED ON SIMULINK

2012 ◽  
Vol 11 (02) ◽  
pp. 99-106 ◽  
Author(s):  
XIAOKAN WANG ◽  
QIONG WANG
Keyword(s):  
Mathematical Model ◽  
Modeling And Simulation ◽  
Pid Controller ◽  
Control Module ◽  
Braking Performance ◽  
Braking System ◽  
The Mathematical Model

This article establishes the mathematical model of automobile anti-lock braking system (ABS) in the Simulink environment and tracks the research and simulation of the ABS established mathematical model, which is based on the control module with the PID controller. From the simulation curve, we can verify automobile ABS with good braking performance and direction maneuverability.

Anti-Swing Control of Container Crane Based on CMAC-PID Controller

2012 ◽  
Vol 503-504 ◽  
pp. 1256-1259
Author(s):  
Ya Li Su ◽  
Xi Huai Wang ◽  
Jian Mei Xiao
Keyword(s):  
Mathematical Model ◽  
Pid Control ◽  
Pid Controller ◽  
Container Crane ◽  
Compound Control ◽  
Simulation Results ◽  
Control Principle ◽  
The Mathematical Model

This paper establishes the mathematical model of the system of container crane, and then introduced the CMAC and PID compound control principle and characteristics, and PID control of the position of the container crane , CMAC-PID control of the position of the container crane, and CMAC-PID control of container crane's position and angle. The simulation results show that the crane based on the CMAC and PID compound control has a very good positioning and anti-swing effect.

scholarly journals Using real interpolation method for adaptive identification of nonlinear inverted pendulum system

2019 ◽  
Vol 9 (2) ◽  
pp. 1078
Author(s):  
Phu Tran Tin ◽  
Tran Hoang Quang Minh ◽  
Tran Thanh Trang ◽  
Nguyen Quang Dung
Keyword(s):  
Mathematical Model ◽  
Nonlinear Model ◽  
Inverted Pendulum ◽  
Interpolation Method ◽  
High Accuracy ◽  
Real Interpolation ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Real Interpolation Method ◽  
The Mathematical Model

<p>In this paper, we investigate the inverted pendulum system by using real interpolation method (RIM) algorithm. In the first stage, the mathematical model of the inverted pendulum system and the RIM algorithm are presented. After that, the identification of the inverted pendulum system by using the RIM algorithm is proposed. Finally, the comparison of the linear analytical model, RIM model, and nonlinear model is carried out. From the results, it is found that the inverted pendulum system by using RIM algorithm has simplicity, low computer source requirement, high accuracy and adaptiveness in the advantages.</p>

scholarly journals Vibration Control of Load for Jib Crane by using PID Controller

2020 ◽  
Vol 27 (3) ◽  
pp. 89-96
Author(s):  
Fares Abbas ◽  
Tawfik Al Massoud
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Vibration Control ◽  
Mechanical Model ◽  
Pid Controller ◽  
Integrated Production ◽  
Production Processes ◽  
Matlab Program ◽  
The Impact ◽  
The Mathematical Model

Jib Crane is a type of machinery used mainly to raise or lower materials or heavy objects and to carrying them to other places. It is used in construction and in the installation of large machines such as wind turbines and harbors, and is an essential component of integrated production processes. Because of the large loads carried by these cranes it became necessary to know their behavior before investment by studying their movements and studying the vibration of payloads and work to reduce them as much as possible and thus prolong the life of the crane components and increase their efficiency. Hence the need to design a control system to dampen load vibration to reduce the impact of dynamics affecting the parts of the crane. In this research, the mathematical model similar to the mechanical model of the crane was prepared and solving the model using MATLAB program, and then design a proportional integral differential controller for jib crane

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