Miramontes, Salvador, Stricklin, Tim, Duckwitz, Kody · Scholar Works (Boise State University) · 2012
Objective: To build an inverted pendulum system for the Discovery Center of Boise. Description: One can think of the idea of an inverted pendulum as trying to vertically balance a yardstick on the palm of your hand. That is, you watch the stick and move your hand to the stick pointing up. In the system to be built, the palm is replaced by a motorized base and the stick (rod) is attached to the base through a bearing joint. The angle of the rod with respect to the base is measured and then the base is moved to keep the stick straight up vertical. Goal: To create an inverted pendulum that will intrigue kids of all ages with visual and interactive capability to illustrate various aspects of modern science and engineering. The Set Up: A rotary inverted pendulum will be constructed in order to limit the spatial requirements and the number of mechanical parts in order to maximize the life expectancy of the system. There will be a DC motor, an optical encoder, an amplifier, a C based microcontroller, and two mounting platforms used to tie it all together. At the end of the semester the inverted pendulum will be on display at the Discovery Center.
Cited by 0
Nilsen, Stian, Valaker, Terje, Hølen, Stig et al. · Duo Research Archive (University of Oslo) · 2014
Prosjektoppgaven som er gitt er å lage en demonstrasjonrigg og skal vise noe av hva Kongsberg sin sanntidskontroller, RCU 510 kan gjøre. Riggen skal presentere et reguleringssystem som ved hjelp av kybernetikk skal stabilisere et ustabilt system. Oppgaven er løst ved å ha gjennomført et utviklingsprosjekt. For å realisere systemet er det benyttet Kongsberg sitt programmeringsverktøy AIM2000. Oppgaven har gitt prosjektgruppa god innsikt i prosjektgjennomføring, samt følge utviklingen fra teori til praksis i faget Kybernetikk. Resultatet ble en rigg som demonstrerer et klassisk eksempel innenfor kybernetikk, prinsippet invertert pendel.
Cited by 0Open access
Chen-sheng Chou, Chou Chen, Control Of An · 1998
Cited by 0
Nat Wannawas · TIB Data Manager · 2024
Cited by 0Open access
Tomasz Kawalec · Jagiellonian University Repository (Jagiellonian University) · 2018
Cited by 0Open access
Kalla, Libor · Brno University of Technology Digital Library (Brno University of Technology) · 2010
Tato práce se zabývá rovinnou úlohou balancování inverzního kyvadla, jehož reálný model je umístěn v laboratoři A1/731a. Cílem práce je v prostředí Matlab Simulink sestavit simulační model. Vlastnosti navrženého modelu experimentálně porovnat s jeho reálným protějškem. Dalším cílem je vyzkoušet v prostředí Matlab Simulink regulaci modelu a na základě zjištěných výsledků se pokusit o řízení reálné soustavy pomocí programovatelného automatu.
Cited by 0
Libor Kalla · Digital Repository (National Repository of Grey Literature) · 2010
The thesis deals with the planar problem regarding balancing of an inverted pendulum whose real model is situated in the laboratory A1/731a. The goal of this thesis is to build up the simulation model in the program Matlab Simulink and compare the attributes of the model with the real pendulum. The next step is to prove a regulation of the model in Matlab Simulink and find the way of controlling the real model by PLC on the basis of results found within the simulation.
Cited by 0
Miramontes, Salvador, Stricklin, Tim, Duckwitz, Kody · Scholar Works (Boise State University) · 2012
Objective: To build an inverted pendulum system for the Discovery Center of Boise.\nDescription: One can think of the idea of an inverted pendulum as trying to vertically balance a yardstick on the palm of your hand. That is, you watch the stick and move your hand to the stick pointing up. In the system to be built, the palm is replaced by a motorized base and the stick (rod) is attached to the base through a bearing joint. The angle of the rod with respect to the base is measured and then the base is moved to keep the stick straight up vertical.\nGoal: To create an inverted pendulum that will intrigue kids of all ages with visual and interactive capability to illustrate various aspects of modern science and engineering.\nThe Set Up: A rotary inverted pendulum will be constructed in order to limit the spatial requirements and the number of mechanical parts in order to maximize the life expectancy of the system. There will be a DC motor, an optical encoder, an amplifier, a C based microcontroller, and two mounting platforms used to tie it all together. At the end of the semester the inverted pendulum will be on display at the Discovery Center.
Cited by 0
Leonhard Brunauer, Wolfgang Kreil · 2007
In this work we have tried to create an inverted pendulum using standard PC hardware. The pendulum in this project has been mounted onto a printer. A serial mouse serves as an angle sensor. The software controller has been implemented bare metal using a common micro controller architecture.
Cited by 0
Libor Kalla · Digital Repository (National Repository of Grey Literature) · 2010
The thesis deals with the planar problem regarding balancing of an inverted pendulum whose real model is situated in the laboratory A1/731a. The goal of this thesis is to build up the simulation model in the program Matlab Simulink and compare the attributes of the model with the real pendulum. The next step is to prove a regulation of the model in Matlab Simulink and find the way of controlling the real model by PLC on the basis of results found within the simulation.
Cited by 0
D. K. Chaturvedi, Tanveer Qamar, O. P. Malik · 2015
This paper deals with comparison of artificial neural network and quantum inspired evolutionary neural network control of an inverted pendulum. First, a properly tuned PID controller was utilized to stabilize the inverted pendulum to generate the training data. Secondly, a feed-forward neural network was trained on the basis of these data. Thirdly, a quantum genetic algorithm optimized neural network was developed. If a disturbance occurs in the system, the controllers counteract this disturbance and balance inverted pendulum. All these three schemes are tested and compared. The results establish that the quantum genetic algorithm neural controller has the best control action.
Cited by 0
Aljadani, Fuad · IUScholarWorks (Indiana University) · 2022
Indiana University Purdue University Indianapolis
Cited by 0
Leon Blitzer · American Journal of Physics · 1965
The equations of motion for the driven inverted compound pendulum are derived from elementary principles. Detailed attention is given to the steady-state motion of the pendulum driven horizontally in a sinusoidal fashion.
Cited by 21
Nilsen, Stian, Valaker, Terje, Hølen, Stig et al. · Duo Research Archive (University of Oslo) · 2014
Prosjektoppgaven som er gitt er å lage en demonstrasjonrigg og skal vise noe av hva Kongsberg sin sanntidskontroller, RCU 510 kan gjøre. Riggen skal presentere et reguleringssystem som ved hjelp av kybernetikk skal stabilisere et ustabilt system. Oppgaven er løst ved å ha gjennomført et utviklingsprosjekt. For å realisere systemet er det benyttet Kongsberg sitt programmeringsverktøy AIM2000. Oppgaven har gitt prosjektgruppa god innsikt i prosjektgjennomføring, samt følge utviklingen fra teori til praksis i faget Kybernetikk. Resultatet ble en rigg som demonstrerer et klassisk eksempel innenfor kybernetikk, prinsippet invertert pendel.
Cited by 0Open access
Adrian Joldiş · 2006
This work is dedicated to the study and development of new means of experimental techniques to be used in automatic control teaching and research. Supported inverted pendulum is introduced as an alternative to classical inverted pendulum. Constructive details are given for both systems and afterwards their dynamics are modeled. Simulations allow elaborating many conclusions about the dynamic behavior of the new presented system. Constructive and model comparison emphasizes the conceptual similarities between these two systems. Supported inverted pendulum's analysis shows behavioral features necessary for further development of some automatic control techniques
Cited by 1
A. B. Pippard · European Journal of Physics · 1987
The condition for stability of a pendulum, maintained in an inverted position by vertical oscillation of the point of support, is derived by replacing sinusoidal motion of the support, as usually assumed, by a sawtooth or a parabolic approximation. The physical principles are unchanged but the mathematics is so much simpler that other customary approximations are unnecessary, and the complete range of oscillatory amplitude and frequency can be surveyed. The lower limit of stability agrees with other treatments and the upper limit, usually neglected, is determined.
Cited by 24
Rotem Sharoni · BIBSYS Brage (BIBSYS (Norway)) · 2016
The purpose of this thesis is to investigate whether an inverted pendulum can be balanced on a hydrodynamic platform actuated by thrusters. The vessel is the omnidirectional CS Saucer actuated by three rotating azimuth thrusters.\n\nThe vessel have been heavily modified, replacing the software control system with a Robot Operating System (ROS) based platform, using an Arduino Mega embedded circuit board, and the Raspberry Pi 2. This is a versatile platform, especially useful with MATLAB and Simulink simulations, and for implementation of additional hardware. For this project, rpm measurements from all motors have been added, along with battery voltage monitoring and encoder reading.\n\nThe encoder is used to read the position of the pendulum. A completely new payload system, interfacing the pendulum and encoder to the CS Saucer have been designed and constructed. The system is designed to only rotate in one plane, and the pendulum is restricted to move in the range $\\pm 45\\degree$. \n\nIn order to design a control system that keeps the pendulum at the upright equilibrium, a mathematical model of the system is needed. Equations for an inverted pendulum on a cart, and hydrodynamic modelling of marine vessels are presented, and then combined to find the equations for the system. The Lagrangian approach is used to derive the dynamic coupled equations for the marine inverted pendulum, where theory on the double inverted pendulum is used for comparison. It is also shown that the Denavit-Hartenberg convention used in robotics can be applied on the marine inverted pendulum to derive the equations.\n\nThe mathematical model is highly coupled and nonlinear. For controller and observer designs, however, it is convenient to work with a simplified model. Therefore, the system is linearized about the desired upright equilibrium and position, i.e. the zero state, and written on state space form. Based on this linear model, a linear quadratic regulator (LQR) feedback controller is designed. \n\nOnly the vessel position, pitch and pendulum angle are measured, while their derivatives also form part of the state. Since all six states are necessary for feedback control, a Luenberger state estimator is designed. Together with the LQR they form the linear quadratic Gaussian (LQG). The observer is then a combined filter and state estimator, able to reconstruct unmeasured states, and filter noisy measurements.\n\nThe system is tested in the MC Lab, where real conditions as unreliable sensors, signal losses and noise are present. Experiments show promising results for the LQR. Several runs are conducted, showing that both the control law, and vessel should be suitable for the marine inverted pendulum. The objective is not completely achieved, but it is believed that it is possible to achieve it given some more work.\n\nOne of the main concerns in this regard is the thruster mapping. The thrusters are unreliable, especially in the zero thrust region, and when thrust direction is changed. Therefore, this should be the main focus area for further work. Moreover, the vessel design might not be the best for a marine inverted pendulum. It is directionally unstable, and a strong pitching effect is observed when thruster force is applied. So, while the omnidirectional property might be very suitable for a freely moving pendulum, a long and thin vessel is believed to be more suitable for the in-plane rotating pendulum.
Cited by 0
Simona Salicone, Marco Prioli · Springer series in measurement science and technology · 2018
Cited by 0
Penka, Vít · Brno University of Technology Digital Library (Brno University of Technology) · 2024
Tato bakalářská práce se zabývá návrhem modelu inverzního kyvadla. Je vytvořen matematický popis inverzního kyvadla a implementován do prostředí Simulink. Dále je vytvořen reálný model inverzního kyvadla a je propojen s prostředím Simulink pomocí platformy STM32 NUCLEO. Na konci práce jsou identifikovány základní parametry reálného modelu inverzního kyvadla.
Cited by 0Open access
Daněk, Petr · Brno University of Technology Digital Library (Brno University of Technology) · 2017
Tato diplomová práce se zabývá řízením inverzního kyvadla. Jsou popsány druhy inverzních kyvadel, použitá výkonová elektronika, senzorika a jejich propojení s řídící kartou MF624 a externím hardwarem. Dále je popsána identifikace parametrů včetně sestavení vlastního algoritmu pro identifikaci viskózního tření v rotační vazbě kyvadla. Pro identifikaci momentů setrvačnosti je využito 3D CAD modelů, kde práce popisuje také využití těchto modelů pro VRML vizualizaci. V práci je též popsáno sestavení dynamického modelu pomocí Matlab-Simulink a toolboxu Simscape-Multibody. Zmíněný model je dále využit při návrhu regulátoru pomocí LQR a jeho simulačním testování. Regulátor je doplněn Swing-up algoritmem, bezpečnostními prvky a je navrženo rozhraní pro řízení pomocí karty MF624. Řízení je testováno na reálné sestavě inverzního kyvadla a implementováno na externí hardware.
Cited by 0