1. DergiPark
  2. International Journal of Applied Mathematics Electronics and Computers
  3. Arşiv
  4. Sayı Special Issue-1
Yıl 2016, Cilt , Sayı Special Issue-1, Sayfalar 326 - 328 2016-12-01

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

Sinan İLGEN [1] , Emre OFLAZ [2] , Erdi Gülbahçe [3] , Abdullah Çakan [4]

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.

Anahtar Kelimeler

PID Control, Modelling, Simulation, Self-balancing, Single-wheel inverted pendulum

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

Yazar: Sinan İLGEN
Kurum: KTO KARATAY ÜNİVERSİTESİ
Ülke: Turkey

Yazar: Emre OFLAZ
Kurum: KTO KARATAY ÜNİVERSİTESİ
Ülke: Turkey

Yazar: Erdi Gülbahçe
Kurum: KTO KARATAY ÜNİVERSİTESİ
Ülke: Turkey

Yazar: Abdullah Çakan
Kurum: SELCUK UNIV
Ülke: Turkey
Tarihler

Yayımlanma Tarihi : 1 Aralık 2016

Kaynak Göster

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}, volume = {}, 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
Makalenin Yazarları
Sinan İLGEN [1]
Emre OFLAZ [2]
Erdi Gülbahçe [3]
Abdullah Çakan [4]
Makale Gönder
Arşiv
Editör Kurulu
İletişim

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