Tehnički glasnik, Vol. 12 No. 3, 2018.
Izvorni znanstveni članak
https://doi.org/10.31803/tg-20180208152214
Alternative controller design for rotary inverted pendulum
Mehmet Öksüz
orcid.org/0000-0003-2096-5136
; Turkish Aeronautical Association University, Mechatronics Engineering Department, Etimesgut, 06790, Ankara, Turkey
Mehmet Burak Önal
; Turkish Aeronautical Association University, Mechatronics Engineering Department, Etimesgut, 06790, Ankara, Turkey
Recep Halicioğlu
Lale Canan Dülger
; İzmir University of Economics, Mechanical Engineering Department
Sažetak
The inverted pendulum has been considered a classical control problem. Two designs of inverted pendulum are planar and rotary with a nonlinear unstable system characteristic. Inverted pendulum systems are nonlinear. They can be used for testing and studying various observers and controllers. Control of a rotary inverted pendulum is studied here. This paper proposes stabilization of the rotary inverted pendulum at its upright position by using full-state controller. Full-state controllers are designed by using different damping ratios. MATLAB simulation results and the experimental results are taken for 10 degrees step for 5 seconds. The best controller is chosen for SRV02-Rotary inverted pendulum by looking at the simulation and experimental results.
Ključne riječi
controller design; full-state controller; linearization; pole placement; rotary inverted pendulum (RIP); stabilization
Hrčak ID:
206049
URI
Datum izdavanja:
25.9.2018.
Posjeta: 2.705 *