Balance Control of Inertia Pole Inverted Pendulum Systems
碩士 === 國立成功大學 === 工程科學系碩博士班 === 94 === Abstract The inertia pole inverted pendulum system is an unstable nonlinear system. The mechanism of this system is not complicated. Because of this reason, this system provides a platform for verifying the effectiveness of different control schemes. In this th...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2006
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| Online Access: | http://ndltd.ncl.edu.tw/handle/42875419644751417691 |
| Summary: | 碩士 === 國立成功大學 === 工程科學系碩博士班 === 94 === Abstract
The inertia pole inverted pendulum system is an unstable nonlinear system. The mechanism of this system is not complicated. Because of this reason, this system provides a platform for verifying the effectiveness of different control schemes. In this thesis, it is first shown how to build up an inertia pole inverted pendulum system. Then the mathematical model of the inertia pole inverted pendulum is derived and also the DC motor model is obtained. The objective of this research is to balance the pendulum at the unstable position. The balance controller design is based on the LQR control theory. MATLAB/Simulink are used to design and simulate the control system. Finally, the control law is implemented using a digital signal processor with programs coded in C language and assembly. The experimental results are given to demonstrate the effectiveness of the control system.
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