Control System Design of Rotary Inverted Pendulum

2014 ◽  
Vol 608-609 ◽  
pp. 766-769
Author(s):  
Li Qian Wang ◽  
Kai Hu
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Inverted Pendulum ◽  
Controller Design ◽  
Single Stage ◽  
Test Results ◽  
Final Test ◽  
Loop Control ◽  
Classical Control ◽  
Rotary Inverted Pendulum

In this paper we study the control system of single stage rotary inverted pendulum, and put forwards the controller design based on the core of STM32. In control strategy we use the classical control theory-PID control algorithm, which realizes the closed-loop control of rotating arm and swing rod for the single stage rotary inverted pendulum. The final test results show that the control strategy is effective.

scholarly journals Alternative Controller Design for Rotary Inverted Pendulum

2018 ◽  
Vol 12 (3) ◽  
pp. 139-145
Author(s):  
Mehmet Öksüz ◽  
Recep Halicioğlu
Keyword(s):  
Inverted Pendulum ◽  
Controller Design ◽  
Upright Position ◽  
Experimental Results ◽  
Matlab Simulation ◽  
Unstable System ◽  
State Controller ◽  
Full State ◽  
Classical Control ◽  
Rotary Inverted Pendulum

The inverted pendulum has been considered a classical control problem. Two designs of inverted pendulum are planar and rotary with a nonlinear unstable system characteristic. Inverted pendulum systems are nonlinear. They can be used for testing and studying various observers and controllers. Control of a rotary inverted pendulum is studied here. This paper proposes stabilization of the rotary inverted pendulum at its upright position by using full-state controller. Full-state controllers are designed by using different damping ratios. MATLAB simulation results and the experimental results are taken for 10 degrees step for 5 seconds. The best controller is chosen for SRV02-Rotary inverted pendulum by looking at the simulation and experimental results.

scholarly journals A real-time HIL control system on rotary inverted pendulum hardware platform based on double deep Q-network

2021 ◽  
Vol 54 (3-4) ◽  
pp. 417-428
Author(s):  
Yanyan Dai ◽  
KiDong Lee ◽  
SukGyu Lee
Keyword(s):  
Control System ◽  
Reinforcement Learning ◽  
Inverted Pendulum ◽  
Learning Algorithm ◽  
Deep Understanding ◽  
Control Engineering ◽  
Experience Replay ◽  
Real Hardware ◽  
Rotary Inverted Pendulum ◽  
Reinforcement Learning Algorithm

For real applications, rotary inverted pendulum systems have been known as the basic model in nonlinear control systems. If researchers have no deep understanding of control, it is difficult to control a rotary inverted pendulum platform using classic control engineering models, as shown in section 2.1. Therefore, without classic control theory, this paper controls the platform by training and testing reinforcement learning algorithm. Many recent achievements in reinforcement learning (RL) have become possible, but there is a lack of research to quickly test high-frequency RL algorithms using real hardware environment. In this paper, we propose a real-time Hardware-in-the-loop (HIL) control system to train and test the deep reinforcement learning algorithm from simulation to real hardware implementation. The Double Deep Q-Network (DDQN) with prioritized experience replay reinforcement learning algorithm, without a deep understanding of classical control engineering, is used to implement the agent. For the real experiment, to swing up the rotary inverted pendulum and make the pendulum smoothly move, we define 21 actions to swing up and balance the pendulum. Comparing Deep Q-Network (DQN), the DDQN with prioritized experience replay algorithm removes the overestimate of Q value and decreases the training time. Finally, this paper shows the experiment results with comparisons of classic control theory and different reinforcement learning algorithms.

Intelligent Operation Control for the Fused Magnesia Production

2011 ◽  
Vol 391-392 ◽  
pp. 1450-1454
Author(s):  
Yong Jian Wu ◽  
Ping Zhou ◽  
Pin Shang ◽  
Tian You Chai
Keyword(s):  
Control System ◽  
Intelligent Control ◽  
Control Strategy ◽  
Control Method ◽  
Level Control ◽  
Loop Control ◽  
Intelligent Control System ◽  
Technical Requirements ◽  
Operation Control ◽  
Lower Loop

An electro-fused magnesia furnace (EFMF) is used to produce electro-fused magnesia. Due to the complex dynamic characteristics of the EFMF production process, it is difficult to achieve the satisfactory control performances only by the independent conventional control method. As a result, the lower loop control with manual operations is still widely used in practice. However, the manual operation cannot ensure that the actual production qualities and the energy consumption of unit production meet the technical requirements all the time. In this paper, an intelligent operation control strategy is developed for the EFMF to automatically adjust the setpoints of the lower level control system. Based on the proposed intelligent control strategy, an intelligent control system for the EFMF is built and implemented on site. Industrial application has demonstrated that the intelligent control system can achieve reliable, accurate and timely control performances.

Research on Control Strategy of Integrated Gasification Humid Air Turbine Cycle

2018 ◽  
Vol 140 (11) ◽  
Author(s):  
Tingting Wei ◽  
Dengji Zhou ◽  
Di Huang ◽  
Shixi Ma ◽  
Wang Xiao ◽  
...  
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Design Method ◽  
Control Mode ◽  
Humid Air ◽  
Loop Control ◽  
System A ◽  
Air Turbine ◽  
Integrated Gasification ◽  
Strategy Design

Integrated gasification humid air turbine (IGHAT) cycle is an advanced power generation system, combining gasification technology and humid air turbine (HAT) cycle. It draws great attention in the energy field considering its high specific power, high efficiency, and low emission. There are only a few HAT cycle plants and IGHAT cycle is still on the theory research stage. Therefore, the study on control strategies of IGHAT cycle has great significance in the future development of this system. A design method of control strategy is proposed for the unknown gas turbine systems. The control strategy design is summarized after IGHAT control strategy and logic is designed based on the dynamic simulation results and the operation experience of gas turbine power station preliminarily. Then, control logic is configured and a virtual control system of IGHAT cycle is established on the Ovation distribution control platform. The model-in-loop control platform is eventually set up based on the interaction between the simulation model and the control system. A case study is implemented on this model-in-loop control platform to demonstrate its feasibility in the practical industry control system. The simulation of the fuel switching control mode and the power control mode is analyzed. The power in IGHAT cycle is increased by 24.12% and 32.47%, respectively, compared to the ones in the simple cycle and the regenerative cycle. And the efficiency of IGHAT cycle is 1.699% higher than that of the regenerative cycle. Low component efficiency caused by off-design performance and low humidity caused by high pressure are the main limits for system performance. The results of case study show the feasibility of the control strategy design method proposed in this paper.

Test and Simulation System of Multi-Axis Controller

2013 ◽  
Vol 860-863 ◽  
pp. 1069-1072
Author(s):  
Rong Chun Sun ◽  
Yan Xin Yu
Keyword(s):  
Control System ◽  
Error Analysis ◽  
Real Time ◽  
Control Strategy ◽  
Simulation System ◽  
Test Results ◽  
Simulation Test ◽  
Motion Mechanism ◽  
Simulation Unit ◽  
Time Acquisition

To realize the online error analysis and verification of control strategy, it is necessary to simulate the states of the motion mechanism, and accurately to obtain the motion relationship between multi-axis and between motors. So a test and simulation system of multi-axis controller was designed. The system consists of a unit of real-time acquisition and analysis, a simulation unit of motor loads, a motherboard and a computer. Motor driving signals for multi channels are synchronously sampled and analyzed by the unit of acquisition and analysis. Motherboard is used to link the various parts. The working states of motor divers under loads are simulated by simulating the motor loads. In the industrial computer, the control effects of multi-axis control system are displayed by 3D simulation. Test results show that the system is stable and reliable, and has a certain application value.

PI Controller Design for DFIG Wind Power Generation System RSC Based on PSO Algorithm

2014 ◽  
Vol 508 ◽  
pp. 196-199
Author(s):  
Yi Min Chu ◽  
Wu Wang
Keyword(s):  
Control System ◽  
Controller Design ◽  
Good Control ◽  
Pso Algorithm ◽  
Pi Controller ◽  
Current Loop ◽  
Control Effect ◽  
Loop Control ◽  
Stator Flux ◽  
Rotor Side Converter

PID controller has widely used in control system for its simple structure, good control effect and strong robustness, the PI control strategy was introduced into rotor side converter of DFIG control with the mathematical models and the structure of stator flux-oriented vector control. Particle swam optimization algorithm was a new random optimization technology which has the features of rapid calculation speed. The PI controller design for RSC current loop and speed loop control was analyzed, and the PSO algorithm was presented for PI controller design, the simulation experiments demonstrated that the algorithm was suitable for the RSC control system with PSO remarkable search capability.

A New Stabilizing Controller Design Based on the Wireless Networked Control System

2013 ◽  
Vol 331 ◽  
pp. 294-298
Author(s):  
Xiao Hua Guo
Keyword(s):  
Control System ◽  
Controller Design ◽  
Networked Control System ◽  
Network Control ◽  
Linear Matrix ◽  
Stabilizing Controller ◽  
Loop Control ◽  
Time Varying Delay ◽  
Loop Control System ◽  
Close Loop Control

In order to improve the performance of the network control system based on the wireless sensor networks, a multi-hopping wireless communication and their effect on network time-varying delay is analyzed, and a new stabilizing controller is proposed based on the a clientserver model in this paper. Using of the linear matrix inequality and switched control system theory to obtain the stabilizing conditions of the close loop control system and give the output feedback controller design approach. Preliminary experimentation indicates the rationality and effectiveness of the proposed control algorithm.

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