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PID Control of an Inverted Pendulum with Experimental Friction Model Estimation

Year 2021, Volume: 21 Issue: 5, 1078 - 1085, 31.10.2021

Ayhan Gün , Abdurrahman Karamancıoğlu

https://doi.org/10.35414/akufemubid.893694

Abstract

An inverted pendulum system is designed, implemented, and stabilized on a short path. Proportional-Integral-Differential (PID) control algorithm is embedded on a digital signal processing card to achieve the stabilization in a real time. DC-motor dynamics of the inverted pendulum system and cart-track friction are unknown and their effects are taken into account by the incremental duty cycle approach. Experimental tests, conducted for various experimental conditions, have shown that the inverted pendulum system reached the desired state in the presence of friction and various external disturbances.

Keywords

Inverted pendulum PID Duty Cycle Digital Signal Processor Stability

References

  • Andrew, K. 2005. Development of aspeed control system using matlab and simulink, implemented with a digital signal processor. M.S. thesis, Dept.Electr. Comput. Eng., Central Florida Univ., Orlando,Florida, USA, 95.
  • Asa,E., Benjanarasuth, T., Nundrkwang,S., Ngamwiwit, J., and Komine, N., 2008.Implementatin of Swinging-up and Stabilizing Controllers for Inverted Pendulum on Cart System. 2008 International Symposium on Communicatios and Information Technologies, Lao, China,504-507.
  • Cheng, F., Zhong, G., Li, Y. and Xu, Z.1996. Fuzzy Control of a Double Inverted Pendulum.Fuzzy Sets Syst, 79, 315–321.
  • El-Hawwary, M. I., Elshafei A. L., Emara, H. M., and Fattah H. A. A. 2006. Adaptive Fuzzy Control of the Inverted Pendulum Problem.IEEE Trans. Control Syst. Technology.14(6), 1135-1144.
  • Gani, A., Açıkgöz, H., Kılıç, E. and Şit, S., 2014. Ters sarkacın bulanık mantık esaslı denetimi.Elektrik-Elektronik-Bilgisayar ve Biyomedikal Mühendisliği Sempozyumu,ELECO’14, 347-350.
  • Gün,A. 2007.Yetersiz uyarımlı bir elektromekanik sistem gerçeklenmesi ve denetimi. Doktora Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir, 129.
  • Hung,T. H., Yeh M. F. and Lu, H. C., 1997. A PI-Like Fuzzy Controller Implementation for the Inverted Pendulum System.IEEE Int. Conf. Intell. Process. Syst.,Beijing, China, 218–222.
  • Jung, S., and Kim, S. S. 2008. Control Experiment of a Wheel-Driven Mobile Inverted Pendulum using Neural Network. IEEE Trans. Control Syst. Technol., 14(6), 297-303.
  • Jung, S., and Kim,S. S. 2007. Hardware Implementation of a Real-Time Neural Network Controller with a DSP and an FPGA for Nonlinear Systems. IEEE Trans. Ind. Electron.,54 (1),265-271.
  • Kharola, A., Patin, P., Raiwani, S. And Rajput, D.,2016. A comparison study for control and stabilisation of inverted pendulum on inclined surface (IPIS) using PID and fuzzy controllers.Recent Trends in Engineering and Material Sciences, 8, 187-190.
  • Magana, M. E. and Holzapfel,F. 1998. Fuzzy-Logic Control of an Inverted Pendulum with Vision Feedback.IEEE Trans. Educ., 41 (2), 165–170.
  • Muskinja, N.and Tovornik, B. 2006. Swinging Up and Stabilization of a Real Inverted Pendulum, IEEE Trans. Ind. Electron., 53(2), 631-639.
  • Tao C. W., Taur,J. S. T., Hsieh, W. and Tsai, C. L. 2008. Design of a Fuzzy Controller with Fuzzy Swing-Up and Parallel Distributed Pole Assignment Schemes for an Inverted Pendulum and Cart System.IEEE Trans. Control Syst. Technol., 16(6),1277-1288.
  • Wang.J.-J,2011., Simulation studies of inverted pendulum based on PID controllers, Simulation Modelling Practice and Theory, 19,440-449.
  • İnternet kaynakları https://www.st.com/en/motor-drivers/l6203.html (13.03.2020)
  • https://www.ti.com/product/TMS320F2812 (27.03.2021)
  • https://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=SystemModeling (15.07.2020)

Deneysel Sürtünme Modeli Kestirimiyle bir Ters Sarkacın PID Kontrolü

Year 2021, Volume: 21 Issue: 5, 1078 - 1085, 31.10.2021

Ayhan Gün , Abdurrahman Karamancıoğlu

https://doi.org/10.35414/akufemubid.893694

Abstract

Bu çalışmada, kısa bir hat üzerinde ters sarkaç sistemi tasarlanıp, uygulanmış ve kararlı bir şekilde kontrol edilmiştir. Kararlılığı sağlamak için gerçek zamanlı sayısal bir işaret işleme kartına Oransal-İntegral-Diferansiyel (PID) kontrol algoritması yerleştirilmiştir. Ters sarkaç sisteminin DC motor dinamiği ve araç yolu sürtünmesi bilinmemektedir ve sürtünme etkileri arttırılan serbest çevrim yaklaşımı ile dikkate alınmıştır. Sürtünme ve dış gürültü varlığında farklı deney koşulları için yapılan testler ters sarkacın istenen denge durumuna ulaştığını göstermiştir.

Keywords

Ters Sarkaç PID Serbest Çevrim Sayısal işaret İşleme Kararlılık

References

  • Andrew, K. 2005. Development of aspeed control system using matlab and simulink, implemented with a digital signal processor. M.S. thesis, Dept.Electr. Comput. Eng., Central Florida Univ., Orlando,Florida, USA, 95.
  • Asa,E., Benjanarasuth, T., Nundrkwang,S., Ngamwiwit, J., and Komine, N., 2008.Implementatin of Swinging-up and Stabilizing Controllers for Inverted Pendulum on Cart System. 2008 International Symposium on Communicatios and Information Technologies, Lao, China,504-507.
  • Cheng, F., Zhong, G., Li, Y. and Xu, Z.1996. Fuzzy Control of a Double Inverted Pendulum.Fuzzy Sets Syst, 79, 315–321.
  • El-Hawwary, M. I., Elshafei A. L., Emara, H. M., and Fattah H. A. A. 2006. Adaptive Fuzzy Control of the Inverted Pendulum Problem.IEEE Trans. Control Syst. Technology.14(6), 1135-1144.
  • Gani, A., Açıkgöz, H., Kılıç, E. and Şit, S., 2014. Ters sarkacın bulanık mantık esaslı denetimi.Elektrik-Elektronik-Bilgisayar ve Biyomedikal Mühendisliği Sempozyumu,ELECO’14, 347-350.
  • Gün,A. 2007.Yetersiz uyarımlı bir elektromekanik sistem gerçeklenmesi ve denetimi. Doktora Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir, 129.
  • Hung,T. H., Yeh M. F. and Lu, H. C., 1997. A PI-Like Fuzzy Controller Implementation for the Inverted Pendulum System.IEEE Int. Conf. Intell. Process. Syst.,Beijing, China, 218–222.
  • Jung, S., and Kim, S. S. 2008. Control Experiment of a Wheel-Driven Mobile Inverted Pendulum using Neural Network. IEEE Trans. Control Syst. Technol., 14(6), 297-303.
  • Jung, S., and Kim,S. S. 2007. Hardware Implementation of a Real-Time Neural Network Controller with a DSP and an FPGA for Nonlinear Systems. IEEE Trans. Ind. Electron.,54 (1),265-271.
  • Kharola, A., Patin, P., Raiwani, S. And Rajput, D.,2016. A comparison study for control and stabilisation of inverted pendulum on inclined surface (IPIS) using PID and fuzzy controllers.Recent Trends in Engineering and Material Sciences, 8, 187-190.
  • Magana, M. E. and Holzapfel,F. 1998. Fuzzy-Logic Control of an Inverted Pendulum with Vision Feedback.IEEE Trans. Educ., 41 (2), 165–170.
  • Muskinja, N.and Tovornik, B. 2006. Swinging Up and Stabilization of a Real Inverted Pendulum, IEEE Trans. Ind. Electron., 53(2), 631-639.
  • Tao C. W., Taur,J. S. T., Hsieh, W. and Tsai, C. L. 2008. Design of a Fuzzy Controller with Fuzzy Swing-Up and Parallel Distributed Pole Assignment Schemes for an Inverted Pendulum and Cart System.IEEE Trans. Control Syst. Technol., 16(6),1277-1288.
  • Wang.J.-J,2011., Simulation studies of inverted pendulum based on PID controllers, Simulation Modelling Practice and Theory, 19,440-449.
  • İnternet kaynakları https://www.st.com/en/motor-drivers/l6203.html (13.03.2020)
  • https://www.ti.com/product/TMS320F2812 (27.03.2021)
  • https://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=SystemModeling (15.07.2020)
There are 17 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Articles
Authors

Ayhan Gün 0000-0002-4223-2518

Abdurrahman Karamancıoğlu 0000-0003-2898-186X

Publication Date October 31, 2021
Submission Date March 9, 2021
Published in Issue Year 2021 Volume: 21 Issue: 5

Cite

APA Gün, A., & Karamancıoğlu, A. (2021). PID Control of an Inverted Pendulum with Experimental Friction Model Estimation. Afyon Kocatepe Üniversitesi Fen Ve Mühendislik Bilimleri Dergisi, 21(5), 1078-1085. https://doi.org/10.35414/akufemubid.893694
AMA Gün A, Karamancıoğlu A. PID Control of an Inverted Pendulum with Experimental Friction Model Estimation. Afyon Kocatepe Üniversitesi Fen Ve Mühendislik Bilimleri Dergisi. October 2021;21(5):1078-1085. doi:10.35414/akufemubid.893694
Chicago Gün, Ayhan, and Abdurrahman Karamancıoğlu. “PID Control of an Inverted Pendulum With Experimental Friction Model Estimation”. Afyon Kocatepe Üniversitesi Fen Ve Mühendislik Bilimleri Dergisi 21, no. 5 (October 2021): 1078-85. https://doi.org/10.35414/akufemubid.893694.
EndNote Gün A, Karamancıoğlu A (October 1, 2021) PID Control of an Inverted Pendulum with Experimental Friction Model Estimation. Afyon Kocatepe Üniversitesi Fen Ve Mühendislik Bilimleri Dergisi 21 5 1078–1085.
IEEE A. Gün and A. Karamancıoğlu, “PID Control of an Inverted Pendulum with Experimental Friction Model Estimation”, Afyon Kocatepe Üniversitesi Fen Ve Mühendislik Bilimleri Dergisi, vol. 21, no. 5, pp. 1078–1085, 2021, doi: 10.35414/akufemubid.893694.
ISNAD Gün, Ayhan - Karamancıoğlu, Abdurrahman. “PID Control of an Inverted Pendulum With Experimental Friction Model Estimation”. Afyon Kocatepe Üniversitesi Fen Ve Mühendislik Bilimleri Dergisi 21/5 (October 2021), 1078-1085. https://doi.org/10.35414/akufemubid.893694.
JAMA Gün A, Karamancıoğlu A. PID Control of an Inverted Pendulum with Experimental Friction Model Estimation. Afyon Kocatepe Üniversitesi Fen Ve Mühendislik Bilimleri Dergisi. 2021;21:1078–1085.
MLA Gün, Ayhan and Abdurrahman Karamancıoğlu. “PID Control of an Inverted Pendulum With Experimental Friction Model Estimation”. Afyon Kocatepe Üniversitesi Fen Ve Mühendislik Bilimleri Dergisi, vol. 21, no. 5, 2021, pp. 1078-85, doi:10.35414/akufemubid.893694.
Vancouver Gün A, Karamancıoğlu A. PID Control of an Inverted Pendulum with Experimental Friction Model Estimation. Afyon Kocatepe Üniversitesi Fen Ve Mühendislik Bilimleri Dergisi. 2021;21(5):1078-85.
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