65518969 Digital Inverted Pendulum
Transcript of 65518969 Digital Inverted Pendulum
Abd-Elmunem Al-Kilani – Ayman Al-MarashdehPrepared by:
Digital inverted pendulumConcept and applications
The Concept
Abd-Elmunem
CONCEPT
The inverted pendulum system is a standard problem of control
system. They are often useful to demonstrate concepts in linear
control such as the stabilization of unstable systems. Since the
system is inherently nonlinear, it has also been useful in illustrating
some of the ideas in nonlinear control.
The inverted pendulum system inherently has two equilibriums, one
of which is stable while the other is unstable. The stable equilibrium
corresponds to a state in which the pendulum is pointing
downwards.
CONCEPT
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In the absence of any control force, the system will naturally return
to this state. The stable equilibrium requires no control input to be
achieved and, thus, is uninteresting form
a control perspective.
The unstable equilibrium corresponds to
a state in which the pendulum points strictly
upwards And, thus, requires control force
to maintain the unstable equilibrium position.
CONCEPT
In this system, an inverted pendulum is attached to a cart equipped
with a motor that drives it along a horizontal track. The user is able
to dictate the position and velocity of the cart through the motor
and the track restricts the cart to move in the horizontal direction.
Sensors are attached to the cart motor and the pendulum pivoted in
order to measure the cart position and pendulum joint angle,
respectively. Measurements are taken with incremental optical
encoders connected to a data acquisition board.
CONCEPT
MATlab/Simulinkg is used to implement the controller and analyze
data. Two limit switches are installed at the ends of the track, if the
cart touches either of them the controller will shut off the power to
the motor.
The Applications
Ayman
APPLICATIONS
Inverted pendulum has some applications such as:
Space ShuttlesThe concept is used to balance the shuttle
while it initiates taking off.
Using this technique protects the shuttle from
falling down due to the variety in weight all
over it.
APPLICATIONS
Tower & Crawler CranesThe balance is needed to keep the machine stable
while moving elements around ,crawlers cranes
are basically a vehicle with inverted pendulum,
its called “Crawler” due to its movement across
the construction field.
In tower cranes the concept stays still except
the behavior of balancing which depends on
the moving arm.
APPLICATIONS
Segway (PT)It’s a two-wheeled self-balancing electric vehicle
PT stands for (Personal transporter) which is
a modern vehicle works by the inverted pendulum
concept.
It has 2 servo motors, 2 computers as a control
unit, and 2 tilt sensors to detect the device speed,
it also has 5 gyroscopes to detect the orientation
and angle of the device.
APPLICATIONS
The servo motor rotates the wheels forwards and
Backwards as needed for the balance.
The device is built to stay all the time balanced
in one place, trying to mirror the process of human
walking.
So if a driver is standing on the Segway,
starting in the balanced position, there would be
no change, but if the driver bends forward for
example, it will upset the balance…
APPLICATIONS
Once the balance is upset, the gyroscopes detect this change and
send a signal to the controller, which gives a signal to
The servomotor to move forward to regain
the balance, same operation happens in
the backward moving.
So the side effect of all of this is, as
the Segway tries to regain the balance, it’s
going to move itself in the direction needed
to restore the balance, forward or backward , thus,
the balance and movement are essentially one combined system.
APPLICATIONS
The Segway has many fields to be used in, such
as personal use to go to school or having a nice
trip around, or even at work like police officers,
airports employees or the army.
It comes with safety instruction ,and needs
20 – 30 minutes training before using.
Finally It’s quiet cheap, 2000$ - 6000$
depending on the additional features xD.