Stability Analysis and Verification of self-balancing control system
- 10.2991/amcce-17.2017.70How to use a DOI?
- Index Terms –Self-balancing, stability Analysis, the centre of gravity equations of motion, error compares, PD controller.
In view of the control method of present self-balancing system stability is so complex, and the controller requires high operation speed of the control system, so this paper presents a control method by using the centre of gravity equations of motion to analyze the system stability and maintain the system stability. This method derives the system center of gravity equation of motion by rigid body dynamics, and uses the control theory to analyze the system stability. In the case of instability, it applies the method of Kalman filter and error compares to eliminate the integral error of gyroscope and to acquire an accurate angle , at the same time ,using the angle, the angular velocity and the resultant acceleration which made by the corresponding parameters to make up the feedback branch configuration system poles, what's more, configuring the angle and angular velocity with appropriate parameters to make up the PD controller, at last completing the control of the system stability . Tests show that this method can reduce the complexity of the system operator and maintain the system stability.
- © 2017, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Rong Qing Zhang AU - Lei Zhang AU - SHun Liang Sun PY - 2017/03 DA - 2017/03 TI - Stability Analysis and Verification of self-balancing control system BT - Proceedings of the 2017 2nd International Conference on Automation, Mechanical Control and Computational Engineering (AMCCE 2017) PB - Atlantis Press SP - 399 EP - 406 SN - 2352-5401 UR - https://doi.org/10.2991/amcce-17.2017.70 DO - 10.2991/amcce-17.2017.70 ID - Zhang2017/03 ER -