Simple Rotary Inverted Pendulum and the Control Device

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.

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The Model Establishment and Simulation Analysis of Controllable Pendulum

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.599-601.714 ◽

2014 ◽

Vol 599-601 ◽

pp. 714-717

Author(s):

Fan Li ◽

Geng Biao Shen ◽

Zi Chao Zhang ◽

Jian Hui Zhao

Keyword(s):

Autonomous Navigation ◽

Simulation Analysis ◽

Pendulum System ◽

Loop Control ◽

Inverted Pendulum System ◽

Preliminary Validation ◽

Closed Loop Control System ◽

Moving Base ◽

Loop Control System ◽

Stabilized Platform

Indicating vertical in moving base to establish horizontal reference is of great significance for the near-earth autonomous navigation. Existing vertical indicating device achieves the goal by using gyro stabilized platform, but the gyroscope is difficult to maintain and has drift error. This paper proposes controllable pendulum system that is a stable closed-loop control system and similar to inverted pendulum system to accomplish the purpose. This paper covers the preliminary validation of the controllable system’s ability of indicating vertical in pulse interference cases and raises the defects of system under condition of step disturbance, by establishing mathematical model, designing double output PID controller and analyzing error , which lays the foundation for follow-up study.

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Effect of reduced gravity on the preferred walk-run transition speed.

Journal of Experimental Biology ◽

10.1242/jeb.200.4.821 ◽

1997 ◽

Vol 200 (4) ◽

pp. 821-826 ◽

Cited By ~ 23

Author(s):

R Kram ◽

A Domingo ◽

D P Ferris

Keyword(s):

Froude Number ◽

Inverted Pendulum ◽

Center Of Mass ◽

Reduced Gravity ◽

Leg Length ◽

Pendulum System ◽

Transition Speed ◽

Inverted Pendulum Model ◽

Inverted Pendulum System ◽

Pendulum Model

We investigated the effect of reduced gravity on the human walk-run gait transition speed and interpreted the results using an inverted-pendulum mechanical model. We simulated reduced gravity using an apparatus that applied a nearly constant upward force at the center of mass, and the subjects walked and ran on a motorized treadmill. In the inverted pendulum model for walking, gravity provides the centripetal force needed to keep the pendulum in contact with the ground. The ratio of the centripetal and gravitational forces (mv2/L)/(mg) reduces to the dimensionless Froude number (v2/gL). Applying this model to a walking human, m is body mass, v is forward velocity, L is leg length and g is gravity. In normal gravity, humans and other bipeds with different leg lengths all choose to switch from a walk to a run at different absolute speeds but at approximately the same Froude number (0.5). We found that, at lower levels of gravity, the walk-run transition occurred at progressively slower absolute speeds but at approximately the same Froude number. This supports the hypothesis that the walk-run transition is triggered by the dynamics of an inverted-pendulum system.

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Design and Research of Double Closed-Loop Control Strategy for Inverted Pendulum System

2013 Third International Conference on Intelligent System Design and Engineering Applications ◽

10.1109/isdea.2012.134 ◽

2013 ◽

Cited By ~ 4

Author(s):

Ru Feifei ◽

Zhang Lei ◽

Tang Le ◽

Huang Yanhai ◽

Zhang Pengpeng

Keyword(s):

Control Strategy ◽

Closed Loop ◽

Inverted Pendulum ◽

Closed Loop Control ◽

Pendulum System ◽

Loop Control ◽

Inverted Pendulum System

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Design and Performance Analysis of LQR Controller for Stabilizing Double Inverted Pendulum System

Circulation in Computer Science ◽

10.22632/ccs-2017-252-45 ◽

2017 ◽

Vol 2 (9) ◽

pp. 1-5

Author(s):

Ghassan A. Sultan ◽

Ziyad K. Farej

Keyword(s):

Inverted Pendulum ◽

Linear Quadratic Regulator ◽

Linear Quadratic ◽

Pendulum System ◽

Inverted Pendulum Model ◽

Inverted Pendulum System ◽

Pendulum Model ◽

Lqr Controller ◽

And Performance ◽

Performance Results

Double inverted pendulum (DIP) is a nonlinear, multivariable and unstable system. The inverted pendulum which continually moves toward an uncontrolled state represents a challenging control problem. The problem is to balance the pendulum vertically upward on a mobile platform that can move in only two directions (left or right) when it is offset from zero stat. The aim is to determine the control strategy that deliver better performance with respect to pendulum's angles and cart's position. A Linear-Quadratic-Regulator (LQR) technique for controlling the linearized system of double inverted pendulum model is presented. Simulation studies conducted in MATLAB environment show that the LQR controller are capable of controlling the multi output double inverted pendulum system. Also better performance results are obtained for controlling heavy driven part DIP system.

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Formalismo variacional en el modelado y control de sistemas de levitación magnética

10.24275/uama.6741.7513 ◽

2021 ◽

Author(s):

◽

Victor Rolando Jara González

Keyword(s):

Inverted Pendulum ◽

Magnetic Levitation ◽

Mechanical Systems ◽

Point Of View ◽

Control Technique ◽

Lagrangian Formalism ◽

Pendulum System ◽

Mathematical Point ◽

Inverted Pendulum System ◽

Natural Dynamics

In this thesis he addressed the controlled Lagrangian control technique in two magnetic levitation systems, these being the fundamental object of study. An analysis of the natural dynamics of three mechanical systems was made; a simple pendulum, two pendulums attached to a xed beam and an inverted pendulum on a cart, which served to understand from a physical-mathematical point of view the presentation of the Lagrangian formalism. This analysis in mechanical systems was the basis in the study of the natural dynamics of the magnetic levitation systems treated. A geometrical stability analysis was also carried out, both for the mechanical systems and for the magnetic levitation systems; this constitutes the rst novelty as a result of the work. The presentation of the controlled Lagrangian control technique was explained in detail, taking as an example the inverted pendulum system on the cart, to later be implemented in magnetic levitation systems. The results obtained were satisfactory, demonstrating with them that this control technique makes sense in magnetic levitation systems, until now simple. From the mathematical point of view, the establishment of a control law in these magnetic levitation systems guarantees their stability in the understanding that the controlled dynamics will be equal to the desired one.

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Stabilization and tracking control of an x-z type inverted pendulum system using Lightning Search Algorithm tuned nonlinear PID controller

Robotica ◽

10.1017/s0263574721001727 ◽

2021 ◽

pp. 1-21

Author(s):

Nurhan Gürsel Özmen ◽

Musa Marul

Keyword(s):

Pid Controller ◽

Inverted Pendulum ◽

Simulation Analysis ◽

Search Algorithm ◽

Optimization Technique ◽

Theoretical Explanation ◽

Pendulum System ◽

Tuning Method ◽

Inverted Pendulum System ◽

Evolutionary Tuning

Abstract Inverted pendulum systems (IPSs) are mostly used to demonstrate the control rules for keeping the pendulum at a balanced upright position due to a slight force applied to the cart system. This paper presents an application for nonlinear control of an x-z type IPS by using a proportional-integral-derivative (PID) controller with newly established evolutionary tuning method Lightning Search Algorithm (LSA). A single, double and triple PID controller system is tested with the conventional and the self-tuning controllers to get a better understanding of the performance of the given system. The mathematical modelling of the x-z type IPS, the theoretical explanation of the LSA and the simulation analysis of the x-z type IPS is put forward entirely. The LSA algorithm solves the optimization problem of PID controller in an evolutionary way. The most effective way of making comparisons is evaluating the performance results with a well-known optimization technique or with the previous accepted results. We have compared the system’s performance with particle swarm optimization and with a classical control study in the literature. According to the simulation results, LSA-tuned PID controller has the ability to decrease the overshoot better than the conventional-tuned controllers. Finally, it can be concluded that the LSA-supported PID can better stabilize the pendulum angle and track the reference better for non-disturbed and the slightly disturbed systems.

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