TY - GEN
T1 - Modeling and control for stability and rotation velocity of a rotary inverted pendulum
AU - Lai, Keyu
AU - Xiao, Jin
AU - Hu, Xiaoguang
AU - Fan, Jianxin
AU - Wu, Bing
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/11/20
Y1 - 2015/11/20
N2 - The rotary inverted pendulum is a highly nonlinear, multivariable and dynamically unstable model. It is a fundamental and interesting problem in control theory. The objective of this paper is to: (i) derive the mechanical model of a rotary inverted pendulum by using Euler-Lagrange equation, (ii) design control systems for the rotary inverted pendulum with PID controller and pole placement method, and (iii) propose a simple method to accelerate the rotation speed. The effectiveness of these control techniques is shown in simulation results. An experimental prototype is also completed to test the control algorithms. With theory analysis and experiment results, it is verified that both controllers are good at maintaining the system stability while the PID method shows a better transient response. The proposed method also has a great advantage in accelerating the rotation velocity.
AB - The rotary inverted pendulum is a highly nonlinear, multivariable and dynamically unstable model. It is a fundamental and interesting problem in control theory. The objective of this paper is to: (i) derive the mechanical model of a rotary inverted pendulum by using Euler-Lagrange equation, (ii) design control systems for the rotary inverted pendulum with PID controller and pole placement method, and (iii) propose a simple method to accelerate the rotation speed. The effectiveness of these control techniques is shown in simulation results. An experimental prototype is also completed to test the control algorithms. With theory analysis and experiment results, it is verified that both controllers are good at maintaining the system stability while the PID method shows a better transient response. The proposed method also has a great advantage in accelerating the rotation velocity.
KW - PID controller
KW - Rotary inverted pendulum
KW - pole placement
KW - rotation velocity control
UR - https://www.scopus.com/pages/publications/84960858619
U2 - 10.1109/ICIEA.2015.7334173
DO - 10.1109/ICIEA.2015.7334173
M3 - 会议稿件
AN - SCOPUS:84960858619
T3 - Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015
SP - 955
EP - 960
BT - Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015
Y2 - 15 June 2015 through 17 June 2015
ER -