Proceedings of the 2017 2nd International Conference on Automation, Mechanical Control and Computational Engineering (AMCCE 2017)

Stability Analysis and Verification of self-balancing control system

Authors
Rong Qing Zhang, Lei Zhang, SHun Liang Sun
Corresponding Author
Rong Qing Zhang
Available Online March 2017.
DOI
https://doi.org/10.2991/amcce-17.2017.70How to use a DOI?
Keywords
Index Terms –Self-balancing, stability Analysis, the centre of gravity equations of motion, error compares, PD controller.
Abstract

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.

Copyright
© 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/).

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Volume Title
Proceedings of the 2017 2nd International Conference on Automation, Mechanical Control and Computational Engineering (AMCCE 2017)
Series
Advances in Engineering Research
Publication Date
March 2017
ISBN
978-94-6252-308-1
ISSN
2352-5401
DOI
https://doi.org/10.2991/amcce-17.2017.70How to use a DOI?
Copyright
© 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  - https://doi.org/10.2991/amcce-17.2017.70
ID  - Zhang2017/03
ER  -