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Yıl 2016, Special Issue (2016), 326 - 328, 01.12.2016
https://doi.org/10.18100/ijamec.270643

Öz

Kaynakça

  • [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.
  • [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.
  • [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.
  • [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
  • [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.
  • [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
  • [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.
  • [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.
  • [9] J.J. Wang, “Simulation studies of inverted pendulum based on PID controllers,” Simulation Modelling Practice and Theory, vol. 19, pp. 440-449, 2011.
  • [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.
  • [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.
  • [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.

Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab

Yıl 2016, Special Issue (2016), 326 - 328, 01.12.2016
https://doi.org/10.18100/ijamec.270643

Öz

This research is aimed at developing a multi-body simulation model and
balancing control of a single-wheeled inverted pendulum. A virtual prototype of
the system has been built by using Adams software and it is simulated in both
Matlab and Adams software together. The Adams model has two inputs (disturbance
and control) and two outputs (pendulum angle and wheel position).  Proportional-integral-derivative (PID)
controller is designed and applied for balancing control and simulation of
pendulum angle. The modelling and control results show that the
Proportional-integral-derivative (PID) controller can successfully achieve
balancing control of the single-wheeled inverted pendulum. Also this paper can
make an important contribution to background of two-wheeled robots,
self-balancing transportation devices.

Kaynakça

  • [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.
  • [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.
  • [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.
  • [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
  • [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.
  • [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
  • [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.
  • [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.
  • [9] J.J. Wang, “Simulation studies of inverted pendulum based on PID controllers,” Simulation Modelling Practice and Theory, vol. 19, pp. 440-449, 2011.
  • [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.
  • [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.
  • [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.

Ayrıntılar

Konular Mühendislik
Bölüm Research Article
Yazarlar

Sinan İLGEN Bu kişi benim

Emre OFLAZ

Erdi Gülbahçe

Abdullah Çakan

Yayımlanma Tarihi 1 Aralık 2016
Yayımlandığı Sayı Yıl 2016 Special Issue (2016)

Kaynak Göster

APA İLGEN, S., OFLAZ, E., Gülbahçe, E., Çakan, A. (2016). Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab. International Journal of Applied Mathematics Electronics and Computers(Special Issue-1), 326-328. https://doi.org/10.18100/ijamec.270643
AMA İLGEN S, OFLAZ E, Gülbahçe E, Çakan A. Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab. International Journal of Applied Mathematics Electronics and Computers. Aralık 2016;(Special Issue-1):326-328. doi:10.18100/ijamec.270643
Chicago İLGEN, Sinan, Emre OFLAZ, Erdi Gülbahçe, ve Abdullah Çakan. “Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab”. International Journal of Applied Mathematics Electronics and Computers, sy. Special Issue-1 (Aralık 2016): 326-28. https://doi.org/10.18100/ijamec.270643.
EndNote İLGEN S, OFLAZ E, Gülbahçe E, Çakan A (01 Aralık 2016) Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab. International Journal of Applied Mathematics Electronics and Computers Special Issue-1 326–328.
IEEE S. İLGEN, E. OFLAZ, E. Gülbahçe, ve A. Çakan, “Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab”, International Journal of Applied Mathematics Electronics and Computers, sy. Special Issue-1, ss. 326–328, Aralık 2016, doi: 10.18100/ijamec.270643.
ISNAD İLGEN, Sinan vd. “Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab”. International Journal of Applied Mathematics Electronics and Computers Special Issue-1 (Aralık 2016), 326-328. https://doi.org/10.18100/ijamec.270643.
JAMA İLGEN S, OFLAZ E, Gülbahçe E, Çakan A. Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab. International Journal of Applied Mathematics Electronics and Computers. 2016;:326–328.
MLA İLGEN, Sinan vd. “Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab”. International Journal of Applied Mathematics Electronics and Computers, sy. Special Issue-1, 2016, ss. 326-8, doi:10.18100/ijamec.270643.
Vancouver İLGEN S, OFLAZ E, Gülbahçe E, Çakan A. Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab. International Journal of Applied Mathematics Electronics and Computers. 2016(Special Issue-1):326-8.

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