Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis

M. Akhtaruzzaman, A. Shafie
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引用次数: 67

Abstract

Inverted pendulum control is one of the fundamental but interesting problems in the field of control theory. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. In this paper some classical and modern control techniques are analyzed to design the control systems. Firstly, the most popular Single Input Single Output (SISO) system, is applied including 2DOF Proportional-Integral-Derivative (PID) compensator design. Here the common Root Locus Method is described step by step to design the two compensators of PID controller. Designing the control system using 2DOF PID is quiet challenging task for the rotary inverted pendulum because of its highly nonlinear and open-loop unstable characteristics. Secondly, the paper describes the two Modern Control techniques that include Full State Feedback (FSF) and Linear Quadratic Regulator (LQR). Here FSF and LQR control systems are tested both for the Upright and Swing-Up mode of the Pendulum. Finally, experimental and MATLAB based simulation results are described and compared based on the three control systems which are designed to control the Rotary Inverted Pendulum.
利用各种方法对旋转倒立摆进行建模与控制,并进行对比评估和结果分析
倒立摆控制是控制理论领域中一个基本而又有趣的问题。本文介绍了srv02系列旋转伺服装置驱动的旋转运动倒立摆的各种控制器的设计步骤。本文分析了一些经典的和现代的控制技术来设计控制系统。首先,将目前最流行的单输入单输出(SISO)系统应用于二自由度比例-积分-导数(PID)补偿器设计。本文介绍了常用的根轨迹法逐步设计PID控制器的两个补偿器。由于旋转式倒立摆具有高度非线性和开环不稳定的特点,采用二自由度PID控制系统是一项极具挑战性的任务。其次,介绍了两种现代控制技术,即全状态反馈(FSF)和线性二次调节器(LQR)。在这里,FSF和LQR控制系统对摆的直立和摆动模式进行了测试。最后,对所设计的三种旋转倒立摆控制系统的实验结果和MATLAB仿真结果进行了描述和比较。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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