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PID CONTROL IMPLEMENTATION OF AN INVERTED PENDULUM SYSTEM

Yıl 2021, Sayı: 047, 140 - 157, 31.12.2021

Yunus Sert Ayhan Gün

Öz

Inverted pendulum which consists of a straight pole and a horizontally moving cart has been one of the most widely researched systems and is considered a classical problem in the area of control engineering. Main objective of the system is to control and stabilize both the angle of the pendulum and position of the cart. In this study, an example of such type of system was designed, implemented and controlled. Stabilization and control objective of the system was successfully achieved by using a Proportional-integral-derivative (PID) controller and graphs of input and outputs of the system was obtained in MATLAB environment.

Anahtar Kelimeler

Nonlinear systems PID controller Inverted pendulum

Kaynakça

  • [1] Lozano, R., Fantoni, I., Block, D.J., (2000), Stabilization of the inverted pendulum around its homoclinic orbit, System & Control Letters 40, s.197-204.
  • [2] Huang, S.J., Huang, C.L., (2000), Control of an inverted pendulum using grey prediction model, IEEE Transactions on Industry App. 36(2), s.452-458.
  • [3] Gani, A., Açıkgöz, H., Kılıç, E., Şit, S., (2014), Ters sarkacın bulanık mantık esaslı denetimi, Elektrik-Elektronik-Bilgisayar ve Biyomedikal Mühendisliği Sempozyumu ELECO’14, s.347-350.
  • [4] Elibol, G., (2015), Bir Ters Sarkaç Denetimi Gerçeklenmesi, Yüksek Lisans Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir.
  • [5] Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., Hirukawa, H., (2001), The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation, International Conference on Intelligent Robots and Systems, s.239-246.
  • [6] Sugihara, T., Nakamura, Y., Inoue, H., (2002), Realtime humanoid motion generation through ZMP manipulation based on inverted pendulum control, International Conference on Robotics & Automation, s.1404-1409.
  • [7] Pathak, K., Franch, J., Agrawal, S.K., (2005), Velocity and position control of a wheeled inverted pendulum by a partial feedback linearization, IEEE Transactions on Robotics 21(3), s.505-513.
  • [8] Gün, A., (2007), Yetersiz Uyarımlı Bir Elektromekanik Sistem Gerçeklenmesi ve Denetimi, Doktora Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir.
  • [9] Grasser, F., D’Arrigo, A., Colombi, S., Rufer, A.C., (2002), JOE: A mobile, inverted pendulum, IEEE Transactions on Industrial Electronics 49(1), s.107-114.
  • [10] Sharif, B.A., (2013), A Sliding Mode Control For Inverted Pendulum System, Yüksek Lisans Tezi, Gaziantep Üniversitesi Fen Bilimleri Enstitüsü, Gaziantep.
  • [11] Kharola, A., Patin, P., Raiwani, S., 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, s.187-190.
  • [12] http://www.bdfdigital.com/PDF_ITA/BROCHURE/BDF_DIGITAL_OPDE.pdf

Yıl 2021, Sayı: 047, 140 - 157, 31.12.2021

Yunus Sert Ayhan Gün

Öz

Kaynakça

  • [1] Lozano, R., Fantoni, I., Block, D.J., (2000), Stabilization of the inverted pendulum around its homoclinic orbit, System & Control Letters 40, s.197-204.
  • [2] Huang, S.J., Huang, C.L., (2000), Control of an inverted pendulum using grey prediction model, IEEE Transactions on Industry App. 36(2), s.452-458.
  • [3] Gani, A., Açıkgöz, H., Kılıç, E., Şit, S., (2014), Ters sarkacın bulanık mantık esaslı denetimi, Elektrik-Elektronik-Bilgisayar ve Biyomedikal Mühendisliği Sempozyumu ELECO’14, s.347-350.
  • [4] Elibol, G., (2015), Bir Ters Sarkaç Denetimi Gerçeklenmesi, Yüksek Lisans Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir.
  • [5] Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., Hirukawa, H., (2001), The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation, International Conference on Intelligent Robots and Systems, s.239-246.
  • [6] Sugihara, T., Nakamura, Y., Inoue, H., (2002), Realtime humanoid motion generation through ZMP manipulation based on inverted pendulum control, International Conference on Robotics & Automation, s.1404-1409.
  • [7] Pathak, K., Franch, J., Agrawal, S.K., (2005), Velocity and position control of a wheeled inverted pendulum by a partial feedback linearization, IEEE Transactions on Robotics 21(3), s.505-513.
  • [8] Gün, A., (2007), Yetersiz Uyarımlı Bir Elektromekanik Sistem Gerçeklenmesi ve Denetimi, Doktora Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir.
  • [9] Grasser, F., D’Arrigo, A., Colombi, S., Rufer, A.C., (2002), JOE: A mobile, inverted pendulum, IEEE Transactions on Industrial Electronics 49(1), s.107-114.
  • [10] Sharif, B.A., (2013), A Sliding Mode Control For Inverted Pendulum System, Yüksek Lisans Tezi, Gaziantep Üniversitesi Fen Bilimleri Enstitüsü, Gaziantep.
  • [11] Kharola, A., Patin, P., Raiwani, S., 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, s.187-190.
  • [12] http://www.bdfdigital.com/PDF_ITA/BROCHURE/BDF_DIGITAL_OPDE.pdf
Toplam 12 adet kaynakça vardır.

Ayrıntılar

Birincil Dil İngilizce
Konular Mühendislik
Bölüm Research Articles
Yazarlar

Yunus Sert 0000-0003-1286-1257

Ayhan Gün 0000-0002-4223-2518

Yayımlanma Tarihi 31 Aralık 2021
Gönderilme Tarihi 4 Mart 2021
Yayımlandığı Sayı Yıl 2021 Sayı: 047

Kaynak Göster

IEEE Y. Sert ve A. Gün, “PID CONTROL IMPLEMENTATION OF AN INVERTED PENDULUM SYSTEM”, JSR-A, sy. 047, ss. 140–157, Aralık 2021.
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