Intelligent Control for Flywheel Inverted Pendulum System

• Main Authors: Shin-Yuan Chen, 陳信元
• Other Authors: 林仲廉
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/74625129104425031641

碩士 === 清雲科技大學 === 機械工程所 === 101 === This study is proposed the flywheel inverted pendulum (FIP), the newest inverted-pendulum-like device for control education and research. The flywheel inverted pendulum exhibits several properties, such as under-actuation and nonlinearity, which make it an appealing and valuable for research, industry application, and advanced control lab course. From a mechanical viewpoint, the proposed FIP system is a simple pendulum with a rotating wheel at the end. It owns two degrees of freedom. The wheel is attached to the shaft of a DC motor, and the coupling torque between the wheel and pendulum can be used to control the motion of the system. The objectives of the research are to construct a novel prototype and develop control environment for FIP system. The dynamic equation based on Lagrangian formulation has been developed. The controller was implemented using MATLAB and Simulink during experiments. The control algorithm is divided into three steps: swing-up, standing up, and balancing. Moreover, several controllers which include Proportional-Integral-Derivative (PID), Linear Quadratic Regulator (LQR), and Adaptive-Network-Fuzzy-Inference (ANFIS), have been implemented for such model verification.