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Inverted Pendulum With Force Control

The document discusses controlling the position of an inverted pendulum attached to a DC motor using a microcontroller. It describes the system equations, parameter estimation using MATLAB, and implementing PID control in simulation and on physical hardware to control the pendulum position.

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Nikita 19110190
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42 views

Inverted Pendulum With Force Control

The document discusses controlling the position of an inverted pendulum attached to a DC motor using a microcontroller. It describes the system equations, parameter estimation using MATLAB, and implementing PID control in simulation and on physical hardware to control the pendulum position.

Uploaded by

Nikita 19110190
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Inverted Pendulum with Force Control

Tejendra Patel 1 , Kailash Kumar1 , Anjali Gawai2 and Sonal Choudhary2

I. Introduction Now the system becomes non-linear and it can


Nowadays,the DC motors are used in various not be linearized along the equilibrium point be-
applications such as defense, industries, robotics cause we wanted to do the position control at all θ.
because of their simplicity, ease of application, So the Transfer Function analysis cannot be done
reliability and cost effective. In general, a DC III. motor parameter estimation
motor’s speed can be controlled by adjusting the
terminal voltage, but the shaft’s position cannot be For estimating the motor parameters we went
controlled. The position control of a DC motor is with the MATLAB app for parameter estimation.
critical in precision control applications. A motor A simulink model as seen in Figure (3) with the
position controller’s job is to take a signal that above (10) and (11) equations was made and a
represents the needed angle and operate a motor pulse of 37 to -37 pwm was given to it and a
at that angle. A DC motor may be easily controlled response of θ(deg) vs t(sec) was saved.
with microcontrollers. An electronic component
and a microprocessor make up a microcontroller-
based position control system. DC motor drives
are used in a variety of applications where power
electronics are used to control the voltage and, as
a result, the speed or position of the motor. This
research examines real-time DC motor position
control for a variety of position input values. To
verify the DC motor position, a step function,
sine function, and variable resistor are used as
input signals. Furthermore, to eliminate the friction
effect, friction compensation based on velocity
dependency is explored. The performance of the
Fig. 1. Simulink model for motor parameters
output results is improved when the Coulomb’s
friction force is applied to the driving velocity to
reach the desired position of the DC motor. A same pulse was given to the physical system
and the response of position vs time was taken and
II. Experimental Model System Equations using the parameters estimation in MATLAB the
parameters were estimated. Figure(4) shows the
Till now the plant (DC motor with no grav- graph and estimatd values.
ity)transfer function and its analysis was done. But
when experimenting with inverted pendulum the IV. closed loop Analysis
gravity will play an important role. So the systems A. Position Control
equations (5) and (6) changes to:
The system was unstable in open loop analysis
di so, we have done position control of pendulum
V = iR + L + K θ̇ (1) system using PID and PI. here are dynamic equa-
dt
toins of PID loop
Ki = J θ̈ + bθ̇ − mgl sin θ. (2) So modified equation for Torque τ is,
1 Main Authors, 2 Side Authors τ == J θ̈ + bθ̇ − mgl sin θ
Fig. 3. Control loop of position control

Fig. 2. Left side is the plot of simulink model and right side is he
physical model response. Left bottom are the estimated parameters
values.

and desired torque is,


τd = J θ̈ + bθ̇ − mgl sin θ − K p e − Kd e
here we are neglecting the intgral term and
e = θ − θd where θd is desired position of Fig. 4. Control loop of position control
pendulum.
By equating equations of τ and τd ,

Kd ė + K p e = 0
So this becomes the outer loop which gives
the desired current and then the inner PI loop
calculated the PWM that is given to our plant. The
Fig. 5. Control loop of position control
current control loop will be later used for force
control.
The simulink model was made with the param- V. conclusions
eters value as estimated and the gains were tuned. So from the above comparison we can see that
The values of the gains are as follows in Table(1). the response of simulation and physical system
are quite similar. There is some overshoot in the
Mass of assembly m 0.4925 kg
Moment of Inertia J 0.029615E − 4kgm2
physical system. This is due the fact that parame-
Inductance L 0.52E − 5 µH ters estimated can never be perfectly equal to real
Resistance R 20 Ω system parameters and also there was a quite a
Motor friction constant b 0.019E − 3 large amount of lag when running the real system
Torque constant K 2.5
Proportional current gain K pi 2 using simulink. But still the position control was
Integral current gain Kii 0.0001 quite accurate the system was quickly approaching
Derivative current gain Kdi 3 to stability and the steady-state error was very
Proportional gain Kp 31.5
Derivative gain Kd 0.01
small.
TABLE I References
Gains and Parameters used in physical and simulation
[1] https://ctms.engin.umich.edu/CTMS/Content/MotorPosition/
System/Modeling/figures/motor.png
[2] https://ctms.engin.umich.edu/CTMS/index.php?example=
Using the legacy arduino hardware support for MotorPositionsection=SystemModeling
Simulink the model was run on physical setup with [3] I. S. Jacobs and C. P. Bean, “Fine particles, thin films and
exchange anisotropy,” in Magnetism, vol. III, G. T. Rado and
same gains and input. The response of θ vs t was H. Suhl, Eds. New York: Academic, 1963, pp. 271–350.
compared with simulation. [4] K. Elissa, “Title of paper if known,” unpublished.
[5] R. Nicole, “Title of paper with only first word capitalized,”
J. Name Stand. Abbrev., in press.
[6] Y. Yorozu, M. Hirano, K. Oka, and Y. Tagawa, “Electron
spectroscopy studies on magneto-optical media and plastic
substrate interface,” IEEE Transl. J. Magn. Japan, vol. 2, pp.
740–741, August 1987 [Digests 9th Annual Conf. Magnetics
Japan, p. 301, 1982].
[7] M. Young, The Technical Writer’s Handbook. Mill Valley,
CA: University Science, 1989.

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