PID Control of an Inverted Pendulum with Experimental Friction Model Estimation
Yıl 2021,
Cilt: 21 Sayı: 5, 1078 - 1085, 31.10.2021
Ayhan Gün
,
Abdurrahman Karamancıoğlu
Öz
An inverted pendulum system is designed, implemented, and stabilized on a short path. Proportional-Integral-Differential (PID) control algorithm is embedded on a digital signal processing card to achieve the stabilization in a real time. DC-motor dynamics of the inverted pendulum system and cart-track friction are unknown and their effects are taken into account by the incremental duty cycle approach. Experimental tests, conducted for various experimental conditions, have shown that the inverted pendulum system reached the desired state in the presence of friction and various external disturbances.
Kaynakça
- Andrew, K. 2005. Development of aspeed control system using matlab and simulink, implemented with a digital signal processor. M.S. thesis, Dept.Electr. Comput. Eng., Central Florida Univ., Orlando,Florida, USA, 95.
- Asa,E., Benjanarasuth, T., Nundrkwang,S., Ngamwiwit, J., and Komine, N., 2008.Implementatin of Swinging-up and Stabilizing Controllers for Inverted Pendulum on Cart System. 2008 International Symposium on Communicatios and Information Technologies, Lao, China,504-507.
- Cheng, F., Zhong, G., Li, Y. and Xu, Z.1996. Fuzzy Control of a Double Inverted Pendulum.Fuzzy Sets Syst, 79, 315–321.
- El-Hawwary, M. I., Elshafei A. L., Emara, H. M., and Fattah H. A. A. 2006. Adaptive Fuzzy Control of the Inverted Pendulum Problem.IEEE Trans. Control Syst. Technology.14(6), 1135-1144.
- Gani, A., Açıkgöz, H., Kılıç, E. and Şit, S., 2014. Ters sarkacın bulanık mantık esaslı denetimi.Elektrik-Elektronik-Bilgisayar ve Biyomedikal Mühendisliği Sempozyumu,ELECO’14, 347-350.
- Gün,A. 2007.Yetersiz uyarımlı bir elektromekanik sistem gerçeklenmesi ve denetimi. Doktora Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir, 129.
- Hung,T. H., Yeh M. F. and Lu, H. C., 1997. A PI-Like Fuzzy Controller Implementation for the Inverted Pendulum System.IEEE Int. Conf. Intell. Process. Syst.,Beijing, China, 218–222.
- Jung, S., and Kim, S. S. 2008. Control Experiment of a Wheel-Driven Mobile Inverted Pendulum using Neural Network. IEEE Trans. Control Syst. Technol., 14(6), 297-303.
- Jung, S., and Kim,S. S. 2007. Hardware Implementation of a Real-Time Neural Network Controller with a DSP and an FPGA for Nonlinear Systems. IEEE Trans. Ind. Electron.,54 (1),265-271.
- Kharola, A., Patin, P., Raiwani, S. And Rajput, D.,2016. A comparison study for control and stabilisation of inverted pendulum on inclined surface (IPIS) using PID and fuzzy controllers.Recent Trends in Engineering and Material Sciences, 8, 187-190.
- Magana, M. E. and Holzapfel,F. 1998. Fuzzy-Logic Control of an Inverted Pendulum with Vision Feedback.IEEE Trans. Educ., 41 (2), 165–170.
- Muskinja, N.and Tovornik, B. 2006. Swinging Up and Stabilization of a Real Inverted Pendulum, IEEE Trans. Ind. Electron., 53(2), 631-639.
- Tao C. W., Taur,J. S. T., Hsieh, W. and Tsai, C. L. 2008. Design of a Fuzzy Controller with Fuzzy Swing-Up and Parallel Distributed Pole Assignment Schemes for an Inverted Pendulum and Cart System.IEEE Trans. Control Syst. Technol., 16(6),1277-1288.
- Wang.J.-J,2011., Simulation studies of inverted pendulum based on PID controllers, Simulation Modelling Practice and Theory, 19,440-449.
- İnternet kaynakları
https://www.st.com/en/motor-drivers/l6203.html (13.03.2020)
- https://www.ti.com/product/TMS320F2812 (27.03.2021)
- https://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum§ion=SystemModeling (15.07.2020)
Deneysel Sürtünme Modeli Kestirimiyle bir Ters Sarkacın PID Kontrolü
Yıl 2021,
Cilt: 21 Sayı: 5, 1078 - 1085, 31.10.2021
Ayhan Gün
,
Abdurrahman Karamancıoğlu
Öz
Bu çalışmada, kısa bir hat üzerinde ters sarkaç sistemi tasarlanıp, uygulanmış ve kararlı bir şekilde kontrol edilmiştir. Kararlılığı sağlamak için gerçek zamanlı sayısal bir işaret işleme kartına Oransal-İntegral-Diferansiyel (PID) kontrol algoritması yerleştirilmiştir. Ters sarkaç sisteminin DC motor dinamiği ve araç yolu sürtünmesi bilinmemektedir ve sürtünme etkileri arttırılan serbest çevrim yaklaşımı ile dikkate alınmıştır. Sürtünme ve dış gürültü varlığında farklı deney koşulları için yapılan testler ters sarkacın istenen denge durumuna ulaştığını göstermiştir.
Kaynakça
- Andrew, K. 2005. Development of aspeed control system using matlab and simulink, implemented with a digital signal processor. M.S. thesis, Dept.Electr. Comput. Eng., Central Florida Univ., Orlando,Florida, USA, 95.
- Asa,E., Benjanarasuth, T., Nundrkwang,S., Ngamwiwit, J., and Komine, N., 2008.Implementatin of Swinging-up and Stabilizing Controllers for Inverted Pendulum on Cart System. 2008 International Symposium on Communicatios and Information Technologies, Lao, China,504-507.
- Cheng, F., Zhong, G., Li, Y. and Xu, Z.1996. Fuzzy Control of a Double Inverted Pendulum.Fuzzy Sets Syst, 79, 315–321.
- El-Hawwary, M. I., Elshafei A. L., Emara, H. M., and Fattah H. A. A. 2006. Adaptive Fuzzy Control of the Inverted Pendulum Problem.IEEE Trans. Control Syst. Technology.14(6), 1135-1144.
- Gani, A., Açıkgöz, H., Kılıç, E. and Şit, S., 2014. Ters sarkacın bulanık mantık esaslı denetimi.Elektrik-Elektronik-Bilgisayar ve Biyomedikal Mühendisliği Sempozyumu,ELECO’14, 347-350.
- Gün,A. 2007.Yetersiz uyarımlı bir elektromekanik sistem gerçeklenmesi ve denetimi. Doktora Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir, 129.
- Hung,T. H., Yeh M. F. and Lu, H. C., 1997. A PI-Like Fuzzy Controller Implementation for the Inverted Pendulum System.IEEE Int. Conf. Intell. Process. Syst.,Beijing, China, 218–222.
- Jung, S., and Kim, S. S. 2008. Control Experiment of a Wheel-Driven Mobile Inverted Pendulum using Neural Network. IEEE Trans. Control Syst. Technol., 14(6), 297-303.
- Jung, S., and Kim,S. S. 2007. Hardware Implementation of a Real-Time Neural Network Controller with a DSP and an FPGA for Nonlinear Systems. IEEE Trans. Ind. Electron.,54 (1),265-271.
- Kharola, A., Patin, P., Raiwani, S. And Rajput, D.,2016. A comparison study for control and stabilisation of inverted pendulum on inclined surface (IPIS) using PID and fuzzy controllers.Recent Trends in Engineering and Material Sciences, 8, 187-190.
- Magana, M. E. and Holzapfel,F. 1998. Fuzzy-Logic Control of an Inverted Pendulum with Vision Feedback.IEEE Trans. Educ., 41 (2), 165–170.
- Muskinja, N.and Tovornik, B. 2006. Swinging Up and Stabilization of a Real Inverted Pendulum, IEEE Trans. Ind. Electron., 53(2), 631-639.
- Tao C. W., Taur,J. S. T., Hsieh, W. and Tsai, C. L. 2008. Design of a Fuzzy Controller with Fuzzy Swing-Up and Parallel Distributed Pole Assignment Schemes for an Inverted Pendulum and Cart System.IEEE Trans. Control Syst. Technol., 16(6),1277-1288.
- Wang.J.-J,2011., Simulation studies of inverted pendulum based on PID controllers, Simulation Modelling Practice and Theory, 19,440-449.
- İnternet kaynakları
https://www.st.com/en/motor-drivers/l6203.html (13.03.2020)
- https://www.ti.com/product/TMS320F2812 (27.03.2021)
- https://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum§ion=SystemModeling (15.07.2020)