Simulation and Implementation of Two Stage Rotary Inverted Pendulum

DOI

10.2991/meici-16.2016.224How to use a DOI?

Keywords

Inverted pendulum; PID algorithm; Double closed loop control

Abstract

Inverted pendulum control system is a complex, nonlinear, unstable system. This design on the basis of studying the law of motion of the inverted pendulum, build its trajectory mathematical model, using MATLAB simulation analysis Based on mathematical modeling and simulation, according this build the system hardware circuit, after several times debug, can realize stable rotary and stand. Using K60 micro controller combined with PID algorithm to drive hollow cup motor rotate, according to the feedback information of the sensor, adjusting stand pendulum by PD algorithm, adjusting motor speed by PI algorithm. using double circuit PD/PI control scheme realizes the rotating arm swinging angle and position closed loop control at the same time.Inverted pendulum control system is a complex, nonlinear, unstable system. This design on the basis of studying the law of motion of the inverted pendulum, build its trajectory mathematical model, using MATLAB simulation analysis Based on mathematical modeling and simulation, according this build the system hardware circuit, after several times debug, can realize stable rotary and stand. Using K60 micro controller combined with PID algorithm to drive hollow cup motor rotate, according to the feedback information of the sensor, adjusting stand pendulum by PD algorithm, adjusting motor speed by PI algorithm. using double circuit PD/PI control scheme realizes the rotating arm swinging angle and position closed loop control at the same time.Inverted pendulum control system is a complex, nonlinear, unstable system. This design on the basis of studying the law of motion of the inverted pendulum, build its trajectory mathematical model, using MATLAB simulation analysis Based on mathematical modeling and simulation, according this build the system hardware circuit, after several times debug, can realize stable rotary and stand. Using K60 micro controller combined with PID algorithm to drive hollow cup motor rotate, according to the feedback information of the sensor, adjusting stand pendulum by PD algorithm, adjusting motor speed by PI algorithm. using double circuit PD/PI control scheme realizes the rotating arm swinging angle and position closed loop control at the same time.

Copyright

© 2016, 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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TY  - CONF
AU  - Jian Huang
PY  - 2016/09
DA  - 2016/09
TI  - Simulation and Implementation of Two Stage Rotary Inverted Pendulum
BT  - Proceedings of the 2016 6th International Conference on Management, Education, Information and Control (MEICI 2016)
PB  - Atlantis Press
SP  - 1076
EP  - 1080
SN  - 1951-6851
UR  - https://doi.org/10.2991/meici-16.2016.224
DO  - 10.2991/meici-16.2016.224
ID  - Huang2016/09
ER  -