FPGA/PC-Based Real-Time Control Design and Implementation for Inverted Pendulum System
| Autor: | 黃錦彬 |
|---|---|
| Rok vydání: | 2008 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 96 In this thesis, we design a FPGA/PC-Based real-time control system for the rotary inverted pendulum system. The inverted pendulum system is a typically nonlinear unstable system and we need to design a control system to drive the pendulum hold on a stand-up position. This system consists with an inverted pendulum and a rotating arm which links with a DC motor. The system controller contains two parts the swing up controller which is an unstable controller and balancing controller which is a stable controller. By the Cetaev’s instability theorem, the swing up controller is designed to swing the pendulum up from a standstill state. And, using the variable structure control theorem, the balancing controller is design to hold the inverted pendulum stand-up. By the Matlab RTWT toolbox, PC can command the external driving circuits and also the feedback signals can feed to PC. The feedback signals are produced from the encoders of the rotated arm and pendulum. With these feedback messages, the controller in PC will calculate a torque command and download to FPGA circuit to command the motor driving the pendulum to swing up and standing. The Matlab RTWT toolbox gives a convenient method to link the practical plant and PC. On this platform, we develop a particular film ware (S-function) for the PCI-1710 data acquisition card and design hardware circuits (FPGA) for the signals processing and data transformation. Integrating the PC, FPGA circuit, and pendulum system, the FPGA / PC-Based real-time control of rotary inverted pendulum system is proposed. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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