Design and Implementation of PID, LQR and FLC for a Rotary Inverted Pendulum
| Autor: | Zhang, Hui-Wen, 張惠雯 |
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| Rok vydání: | 2019 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 107 An inverted pendulum is a highly nonlinear and dynamically unstable system. Many control algorithms are studied for controlling the inverted pendulum. In this thesis the traditional PID controller, the modern LQR, and FLC are studied for controlling the rod of an inverted pendulum in upright. The performances of the two controllers are investigated. The studied rotary inverted pendulum is a motor driving a link which connects a free rod. The position of the motor shaft and the position of the rod are two states for feedback control. Two potentiometers as sensors are respectively attached to the motor shaft and the link for measuring the states of the pendulum. The errors between the balance point and the measurement of system states fed back to PID controller which outputs a regulated signal driving the rod to remain upright. LQR controller optimizes itself through finding suitable feedback gains. Usually the state of the system is not measurable, so the state observer is needed to estimate the unmeasurable state of the system. The proposed structure of the FLC is implemented with feedback signal fuzzification, fuzzy inference, and defuzzification. The feedback signal of the motor shaft position and the rod position are fuzzified. Based on the behavior of the rotary inverted pendulum, the fuzzy rules are designed for fuzzy inference. The results of fuzzy inference are defuzzified to control the pendulum. The study results of experiment and simulation are used to illustrate the performances of the proposed PID and FLC. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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