MINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL

سال انتشار: 1388
محل انتشار: مجله سیستم های فازی، دوره: 6، شماره: 3
کد COI اختصاصی: JR_IJFS-6-3_002
زبان مقاله: انگلیسی
تعداد مشاهده: 153

نویسندگان

Anna University, Department of Electrical and Electronics Engineering, TamilNadu, India

چکیده

This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a controller that swings up the pendulum, keepsit upright and maintains the arm position. In the general intelligent hybridcontroller, a PD controller with a positive feedback is designed for swinging upand a fuzzy balance controller is designed for stabilization. In order to achievethe swing up in a minimal time, a controller named Minimum Time IntelligentHybrid Controller is proposed which is precisely a PD controller together witha pulse step controller for swinging up along with the fuzzy balance controllerfor stabilization. The impulsive control action is tuned by trial and errorto achieve the minimum-time swing-up. An energy based switching controlmethod is proposed to switch over from swing up mode to stabilization mode.Extensive computer simulation results demonstrate that the swing up timeof the proposed minimum-time controller is significantly less than that of theexisting general hybrid nonlinear controller.

کلیدواژه ها

Fuzzy logic control (FLC), Rotary inverted pendulum (RIP), Swing up control, PD control, Energy based switching control, Hybrid control and Minimum-time control

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