TY - JOUR TT - Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab AU - İlgen, Sinan AU - Oflaz, Emre AU - Gülbahçe, Erdi AU - Çakan, Abdullah PY - 2016 DA - December DO - 10.18100/ijamec.270643 JF - International Journal of Applied Mathematics Electronics and Computers PB - PLUSBASE AKADEMİ ORGANİZASYON VE DANIŞMANLIK WT - DergiPark SN - 2147-8228 SP - 326 EP - 328 IS - Special Issue-1 KW - PID Control KW - Modelling KW - Simulation KW - Self-balancing KW - Single-wheel inverted pendulum N2 - This research is aimed at developing a multi-body simulation model andbalancing control of a single-wheeled inverted pendulum. A virtual prototype ofthe system has been built by using Adams software and it is simulated in bothMatlab and Adams software together. The Adams model has two inputs (disturbanceand control) and two outputs (pendulum angle and wheel position). Proportional-integral-derivative (PID)controller is designed and applied for balancing control and simulation ofpendulum angle. The modelling and control results show that theProportional-integral-derivative (PID) controller can successfully achievebalancing control of the single-wheeled inverted pendulum. Also this paper canmake an important contribution to background of two-wheeled robots,self-balancing transportation devices. CR - [1] J. Wu and W. Zhang, Design of Fuzzy Logic Controller for Two-wheeled Self-balancing Robot, 2011 6th International Forum on Strategic Technology, IFOST 2011, Harbin, China, August 2011. CR - [2] J. Wu and W. Zhang, Research on Control Method of Two-wheeled Self-balancing Robot, 2011 4th International Conference on Intelligent Computation Technology and Automation, ICICTA 2011, Shenzhen, China, March 2011, vol.1, pp.476-479. CR - [3] M.A. Şen and M. Kalyoncu, İki Tekerlekli Kendi Kendini Dengeleyen Robotun Yörünge Takibi için Arı Algoritması kullanarak LQR Kontrolcü Tasarımı, Uluslararası Katılımlı 17. Makina Teorisi Sempozyumu, İzmir, 14-17 Haziran 2015. CR - [4] University of Michigan Control Tutorials for MATLAB and Simulink (CTMS) Website. [Online]. Available: http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=SystemModeling CR - [5] K.H. Lundberg and T.W. Barton, History of Inverted Pendulum Systems, 8th IFAC Symposium on Advances in Control Education vol. 42, pp 131-135, 2010. CR - [6] J.H. Park and S. Jung, “Development and control of a single-wheel robot: Practical Mechatronics approach,” Mechatronics vol. 23 , pp. 594-606, 2013 CR - [7] P. Cieslak, T. Buratowski, T. Uhl, and M. Giergel, “The mono-wheel robot with dynamic stabilisation,” Robotics and Autonomous Systems, vol. 59, pp 611-619, Sep. 2011. CR - [8] J.H. Lee, H.J. Shin, S.J. Lee, and S. Jung, “Balancing control of a single-wheel inverted pendulum system using air blowers: Evolution of Mechatronics capstone design,” Mechatronics, vol. 23, pp. 926-932, 2013. CR - [9] J.J. Wang, “Simulation studies of inverted pendulum based on PID controllers,” Simulation Modelling Practice and Theory, vol. 19, pp. 440-449, 2011. CR - [10] F. Grasser, A. D'Arrigo, S. Colombi, and A.C. Rufer, “JOE: a mobile, inverted pendulum," IEEE Transactions on Industrial Electronics, vol. 49, pp. 107-114, 2002. CR - [11] W. An and Y. Li, Simulation and Control of a Two-wheeled Self-balancing Robot, IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China, pp. 456-461, Dec. 2013. CR - [12] M. Kalyoncu, M.A. Şen, and M. Tinkir, İki Tekerlekli Kendini Dengeleyebilen Bir Araç İçin Yapay Sinir Ağı ve Bulanık Mantık Tabanlı Kontrolcü Tasarımı, Otomatik Kontrol Ulusal Toplantısı-(TOK 2014), Otomatik Kontrol Ulusal Toplantısı Bildiriler Kitabı, pp. 682-687, Kocaeli, 11-13 Eylül 2014. UR - https://doi.org/10.18100/ijamec.270643 L1 - https://dergipark.org.tr/en/download/article-file/237236 ER -