PID Tuning for the Pitch Angle of a Two-Wheeled Vehicle

Autor:	J.F. Ribeiro, Rodrigo Hiroshi Murofushi, M.R.S.B. Souza, J.J.P.Z. Tavares
Rok vydání:	2015
Předmět:	Computer science Control theory Relay law Process control PID controller ComputerApplications_COMPUTERSINOTHERSYSTEMS Pitch angle DC motor law.invention Inverted pendulum
Zdroj:	2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR).
DOI:	10.1109/lars-sbr.2015.69
Popis:	A two-wheeled vehicle is an unstable system and it can be approximated to inverted pendulum, so there is a need of a suitable controller so that it can be stabilized. This paper compares three PID design techniques without mathematical model of the system in order to remain it stand. The methods discussed are Manual Tuning, Relay Tuning and Augmented Ziegler-Nichols and experimental results are presented. All the electronic gadgets and algorithms are embedded in the vehicle.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::31822f5a6acacbf08674a12e06874083 https://doi.org/10.1109/lars-sbr.2015.69 Zobrazit plný text záznamu