Control of a double link arm drive inverted pendulum system

• Main Authors: Guan-You Chen, 陳冠佑
• Other Authors: Shen-jing Chung
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/u327n4

碩士 === 國立雲林科技大學 === 電機工程系碩士班 === 96 === The double link inverted system is a nonlinear and unstable system, with non-minimum phase dynamic characteristic. Moreover, the mechanism of this system is not complicated and can be established easily. These characteristics make the system suitable for control theory research and education purpose. Torque gauge of double link vertical drive inverted pendulum system is dependent on the angle of the drive arm, this makes it more complicated than another double link pendulum systems. In this study, the design of the swing up and balance controller for a double link vertical arm drive inverted pendulum is reported. Swing up controller is designed based on the positive feedback control theorem, while the balance controller is designed by LQR control methods. Finally, the controlled results are presented.