scholarly journals Control System of a Feet-Wheeled Inverted Pendulum Based on Double Closed-Loop PID Controller Combined with PSO

2014 ◽  
Vol 02 (04) ◽  
pp. 25-34
Author(s):  
若彤 曲
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Closed Loop ◽  
Inverted Pendulum ◽  
Wheeled Inverted Pendulum

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

Robotic force control for deburring using an active end effector

Robotica ◽  
1989 ◽  
Vol 7 (4) ◽  
pp. 303-308 ◽  
Author(s):  
G. M. Bone ◽  
M. A. Elbestawi
Keyword(s):  
Control System ◽  
Force Control ◽  
Pid Controller ◽  
Closed Loop ◽  
Least Squares Method ◽  
Closed Loop Control ◽  
End Effector ◽  
Loop Control ◽  
Positioning Errors ◽  
Force Control System

SUMMARYAn active force control system for robotic deburring based on an active end effector is developed. The system utilizes a PUMA-560 six axis robot. The robot's structural dynamics, positioning errors, and the deburring cutting process are examined in detail. Based on ARMAX plant models identified using the least squares method, a discrete PID controller is designed and tested in real-time. The control system is shown to maintain the force within l N of the reference, and reduce chamfer depth errors to 0.12 mm from the 1 mm possible without closed-loop control.

Comparative Analysis of DC Motor Control System

2016 ◽  
Vol 817 ◽  
pp. 111-121 ◽  
Author(s):  
Wojciech Mitkowski ◽  
Marta Zagórowska ◽  
Waldemar Bauer
Keyword(s):  
Control System ◽  
Comparative Analysis ◽  
Pid Controller ◽  
Closed Loop ◽  
Control Method ◽  
Closed Loop System ◽  
Motor Shaft ◽  
Dc System ◽  
Dc Motor Control ◽  
Motor Control System

In this work we will present a control method for DC system – the so-called practical PID controller, where the inertia of both the derivative and the actuator is included. The original element in this paper consists of a comparative analysis of various controller stabilizing the position of motor shaft. In a system with ideal gain, K>0 ensures asymptotic stability of the closed-loop system. Taking into account this inertia along with the inertia of the derivative, we obtain limited values 0<Kp<Kgr. A similar restrictions apply to a system with delay.

Constant Palstance Control of Combine Cylinder Based On Nonlinear PID

2012 ◽  
Vol 241-244 ◽  
pp. 1164-1167
Author(s):  
Ming Biao Yu ◽  
De An Zhao ◽  
Jun Zhang
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Control Environment ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Nonlinear Pid Controller ◽  
Simulation Results

Considering that the threshing cylinder palstance system has characteristics of nonlinear, time-delay, what’s more the control environment is very complex and multi-disturbance; this paper presented the method of nonlinear PID to control the cylinder palstance. Firstly, The paper analyzes characteristics of the model of the threshing cylinder palstance system .Then the nonlinear PID controller is designed, and with the threshing cylinder palstance system constitute a closed-loop control system. Finally, simulation results show the effectiveness and feasibility of the proposed method.

scholarly journals MODELING AND SIMULATION OF QUAY CRANE CONTROL SYSTEM FOR PID CONTROLLER OPTIMAL PARAMETERS DETERMINATION / KRANTINĖS KRANO VALDYMO SISTEMOS KOMPIUTERINIS MODELIAVIMAS OPTIMALIOMS PID VALDIKLIO VERTĖMS NUSTATYTI

2016 ◽  
Vol 8 (5) ◽  
pp. 540-547
Author(s):  
Tomas Eglynas ◽  
Audrius Senulis ◽  
Marijonas Bogdevičius ◽  
Arūnas Andziulis ◽  
Mindaugas Jusis
Keyword(s):  
Mathematical Model ◽  
Parameter Estimation ◽  
Control System ◽  
Pid Controller ◽  
Closed Loop ◽  
Loop System ◽  
Control Algorithms ◽  
Closed Loop System ◽  
Matlab Simulink ◽  
Crane Control

The main control object of Quay crane, which is operating in seaport intermodal terminal cargo loading and unloading process, is the crane trolley. One of the main frequent problem, which occurs, is the swinging of the container. This swinging is caused not only by external forces but also by the movement of the trolley. The research results of recent years produced various types of control algorithms by the other researchers. The control algorithms are solving separate control problems of Quay crane in laboratory environment. However, there is still complex control algorithm design and the controller’s parameter estimation problems to be solved. This paper presents mathematical model of the Quay crane trolley mechanism with the suspended cargo. The mathematical model is implemented in Matlab Simulink environment and using Dormand-Prince solving method. The presented model of laboratory quay crane mathematical model is dedicated to parameter estimation of PID controller of closed loop system with the usage of S –form speed input profile. The article includes the dynamic model of the presented system, the description of closed loop system and modeling results. These results will be used as an initial information for the PID parameters estimation in real quay crane control system. The simu-lation of the model was performed using estimated values of controller. The sway influence of the cargo, the usage of the trolley speed input S-shaper and the PID controller was used to control the trolley speed. Jūriniame įvairiarūšiame terminale atliekant konteinerių krovos procesus, vienas iš krantinės kranų valdymo objektų yra vežimėlis. Viena iš problemų, su kuria susiduriama dažniausiai, yra konteinerio svyravimai, kuriuos, be išorinių veiksnių, taip pat sukelia ir vežimėlio judėji-mas. Remdamiesi paskutinių kelerių metų tyrimais, mokslininkai sukūrė įvairių valdymo algoritmų, kurie laboratorinėmis sąlygomis spren-džia atskiras krantinės kranų valdymo problemas. Tačiau kompleksinių ir efektyvių valdymo algoritmų ir jų valdymo sistemos parametrų nustatymo metodai vis dar kuriami ir tobulinami. Šiame darbe sudarytas krantinės krano vežimėlio su kabančiu kroviniu mechanizmo sis-temos matematinis modelis. Šis modelis realizuotas Matlab Simulink aplinkoje ir sprendžiamas taikant Dormand-Prince metodą. Sukurtas laboratorinio krantinės krano valdymo sistemos kompiuterinis modelis skirtas uždarosios valdymo sistemos PID valdiklio parametrams nustatyti, kai užduoties signalui taikomas S formos greičio kitimo profilis. Darbe pateiktas sistemos dinaminis modelis, aprašyta uždaroji valdymo sistema, pateikti kompiuterinio modeliavimo rezultatai, kuriuos planuojama panaudoti kaip pradinę informaciją realaus krano PID valdiklio parametrams derinti. Atlikta simuliacija naudojant nustatytas vertes ir įvertinti krovinio svyravimai taikant S formos greičio kitimo profilį kartu su PID valdikliu vežimėlio greičiui valdyti.

Study on Intelligent Self-Adaptive Control System

2014 ◽  
Vol 539 ◽  
pp. 620-624
Author(s):  
Ze Min Liu
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Control System ◽  
Pid Controller ◽  
Closed Loop ◽  
Rapid Development ◽  
Adaptive Control System ◽  
Positive Role ◽  
The Neural Network ◽  
Control Of Parameters

With the rapid development of China's industry, the use of the control system has become more and more extensive. However, with the complicating of the production system, the traditional control system has been unable to meet the needs of the current industry. Effectively bring the genetic algorithm of the neural network into the control system can solve this problem. Here, it firstly describes the neural network, genetic algorithm principle, operation procedures and the characteristics; secondly, analyzes the principle and lack of conventional PID controller; finally, effectively combines genetic algorithm and controller together, forming a closed loop, strengthening the control of parameters, and giving a code description of the genetic algorithm. This paper plays a certain positive role for industrial engineers and programmers.

Dynamic Effects of Obstacles on Two-Wheeled Inverted-Pendulum Transporters

2015 ◽  
Author(s):  
John Harber ◽  
Christopher Adams ◽  
Arnoldo Castro ◽  
William Singhose
Keyword(s):  
Experimental Investigation ◽  
Control System ◽  
Inverted Pendulum ◽  
Mechanical Design ◽  
Vertical Direction ◽  
Dynamic Effects ◽  
Operating Environment ◽  
Wheeled Inverted Pendulum ◽  
Approach Speed ◽  
Small Footprint

Two-wheeled inverted pendulums can be used as personal transporters. Their maneuverability and small footprint give them some desirable properties for this application. However, given the unstable mechanical design and the complicated control system that is required, inverted pendulums make complex and unexpected motions in response to both movements of the rider and disturbances from the operating environment. These complex motions lead to dynamic hazards that may cause the rider to fall off or the device to fall over. To better understand some of the complex motions, the response of a two-wheeled inverted-pendulum transporter traveling over bumps of various sizes is studied. Three effects of riding over bumps are demonstrated through an experimental investigation. When striking a bump, the transporter may bounce in the vertical direction, depending on the approach speed and size of the bump. Bumps also cause the transporter to pitch forward. When striking a bump with one wheel, the transporter turns towards the bump. All three effects can act to destabilize the machine and rider.

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