Stabilising a cart inverted pendulum with an augmented PID control scheme
| Autor: | Supriatna Adhisuwignjo, Ferdian Ronilaya, Erfan Rohadi, Cahya Rahmad, Indrazno Siradjuddin, Awan Setiawan, Budhy Setiawan, Zakiyah Amalia |
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| Rok vydání: | 2018 |
| Předmět: |
Cart
0211 other engineering and technologies PID controller 02 engineering and technology State (functional analysis) Inverted pendulum System dynamics Nonlinear system 020303 mechanical engineering & transports 0203 mechanical engineering lcsh:TA1-2040 Control theory Position (vector) 021105 building & construction lcsh:Engineering (General). Civil engineering (General) |
| Zdroj: | MATEC Web of Conferences, Vol 197, p 11013 (2018) |
| ISSN: | 2261-236X |
| Popis: | A cart inverted pendulum is an under actuated system that highly unstable and nonlinear. Therefore, it makes a good problem example which attracts control engineers to validate the developed control algorithms. In this paper, an augmented PID control algorithm is proposed to stabilise a cart inverted pendulum at the desired state. The derivation of a mathematical model of the cart inverted pendulum using Lagrange's equation is discussed in detail. The system dynamics is illustrated to understand better the behaviour of the system. A simulation program has been developed to verify the performance of the proposed control algorithm. The system dynamic behaviours with respect to the variation of the controller parameters are analysed and discussed. Controllers parameters are expressed into two PID gain sets which associated with 2 dynamic states: the cart position (ϰ) and the pendulum angle (θ). It can be concluded from the simulation result that the proposed control algorithm can perform well where acceptable steady errors can be achieved. The best response from the cart inverted pendulum system has been obtained with the value of kPX 190, kDX 50, kIX 5, kPθ 140, kDθ 5, and kIθ 25. |
| Databáze: | OpenAIRE |
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