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.
PID Control, Modelling, Simulation, Self-balancing, Single-wheel inverted pendulum
Konular | Mühendislik |
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Bölüm | Research Article |
Yazarlar |
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Yayımlanma Tarihi | 1 Aralık 2016 |
Yayınlandığı Sayı | Yıl 2016, Cilt , Sayı Special Issue-1 |
Bibtex | @konferans bildirisi { ijamec270643, journal = {International Journal of Applied Mathematics Electronics and Computers}, issn = {2147-8228}, eissn = {2147-8228}, address = {}, publisher = {Selçuk Üniversitesi}, year = {2016}, number = {Special Issue-1}, pages = {326 - 328}, doi = {10.18100/ijamec.270643}, title = {Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab}, key = {cite}, author = {İlgen, Sinan and Oflaz, Emre and Gülbahçe, Erdi and Çakan, Abdullah} } |
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 (2016) , 326-328 . DOI: 10.18100/ijamec.270643 |
MLA | 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 <https://dergipark.org.tr/tr/pub/ijamec/issue/25619/270643> |
Chicago | 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 |
RIS | TY - JOUR T1 - Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab AU - Sinan İlgen , Emre Oflaz , Erdi Gülbahçe , Abdullah Çakan Y1 - 2016 PY - 2016 N1 - doi: 10.18100/ijamec.270643 DO - 10.18100/ijamec.270643 T2 - International Journal of Applied Mathematics Electronics and Computers JF - Journal JO - JOR SP - 326 EP - 328 VL - IS - Special Issue-1 SN - 2147-8228-2147-8228 M3 - doi: 10.18100/ijamec.270643 UR - https://doi.org/10.18100/ijamec.270643 Y2 - 2016 ER - |
EndNote | %0 International Journal of Applied Mathematics Electronics and Computers Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab %A Sinan İlgen , Emre Oflaz , Erdi Gülbahçe , Abdullah Çakan %T Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab %D 2016 %J International Journal of Applied Mathematics Electronics and Computers %P 2147-8228-2147-8228 %V %N Special Issue-1 %R doi: 10.18100/ijamec.270643 %U 10.18100/ijamec.270643 |
ISNAD | İlgen, Sinan , Oflaz, Emre , Gülbahçe, Erdi , Çakan, Abdullah . "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 |
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. 2016; (Special Issue-1): 326-328. |
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): 326-328. |
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, sayı. Special Issue-1, ss. 326-328, Ara. 2016, doi:10.18100/ijamec.270643 |
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