Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab

Year 2016, Special Issue (2016), 326 - 328, 01.12.2016

Sinan İlgen Emre Oflaz , Erdi Gülbahçe , Abdullah Çakan

https://doi.org/10.18100/ijamec.270643

Cited By: 6

Abstract

This research is aimed at developing a multi-body simulation model and
balancing control of a single-wheeled inverted pendulum. A virtual prototype of
the system has been built by using Adams software and it is simulated in both
Matlab and Adams software together. The Adams model has two inputs (disturbance
and control) and two outputs (pendulum angle and wheel position).  Proportional-integral-derivative (PID)
controller is designed and applied for balancing control and simulation of
pendulum angle. The modelling and control results show that the
Proportional-integral-derivative (PID) controller can successfully achieve
balancing control of the single-wheeled inverted pendulum. Also this paper can
make an important contribution to background of two-wheeled robots,
self-balancing transportation devices.

Keywords

PID Control, Modelling, Simulation, Self-balancing, Single-wheel inverted pendulum

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