XZ-Ⅱtype rotary inverted pendulum is a typical mechatronic system; it completes real-time motion control using DSP motion controller and motor torque. In this paper, we recognize XZ-Ⅱ rotational inverted pendulum and learn system composition, working principle, using method, precautions and software platform. We master how to build mathematical model and state feedback control method (pole assignment algorithm) of the one order rotational inverted pendulum system and finish simulation study of system using Matlab. In the end we grasp debugging method of the actual system, and finish online control of the one order rotational inverted pendulum system as well.
ABSTRACT
XZ-type rotary inverted pendulum is a typical mechatronic system; it completes real-time motion control using DSP motion controller and motor torque. In this paper, we recognize XZ- rotational inverted pendulum and learn system composition, working principle, using method, precautions and software platform. We master how to build mathematical model and state feedback control method (pole assignment algorithm) of the one order rotational inverted pendulum system and finish simulation study of system using Matlab. In the end we grasp debugging method of the actual system, and finish online control of the one order rotational inverted pendulum system as well.
KEYWORDS: Rotational Inverted Pudulem, Mathematical Model, State Feedback, Simulation, Debugging
INTRODUCTION
Rotary Inverted Pendulum
Inverted pendulum is typical multi-variable, nonlinear non-minimum-phase, unstable and underactuated system[1]-[5]. XZ- rotary inverted pendulum system uses DSP as the controller, and it has independent ability to complete realtime control algorithms without the computer; it also can complete computer cont rol by RS-232C serial communication interface, and on-line control algorithm can be debugged. DSP, power supply and motor drive are all installed in the chassis. The figure 1 shows the overall structure diagram of the system.
Figure 1: The Overall Structure Diagram of the XZ- Rotary Inverted Pendulum System
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DSP controller is the core control device; it can complete some functions such as data transfer, A / D, D / A conversion, computation, data processing etc. The executing agency of system is the DC torque motor driven by a dedicated drive circuit; it can control motion of inverted pendulum. Measurement feedback components are the two potentiometers used measure the angle signal of the pendulum and arm. Drive power.
Working Principle of the System
The spiral arm is drive by the DC torque motor, and it can rotate around the vertical plane that is perpendicular to motor axis. The pendulum and spiral arm are connected by activity shaft axis of a potentiometer, and the pendulum can rotate around shaft axis in the vertical plane that is perpendicular to the spiral arm. The two angular signals displacement can be measured by the potentiometers (one is lead angle between the spiral arm and the vertical line, another is the relative angle between the spiral arm and the pendulum), and they as two outputs of system t are sent to DSP controller. The angular velocity signal can be obtained by the differential of the angular displacement, and then using some state feedback control algorithm to calculate the control law is provided to the drive circuit after transformed into voltage signal, the signal is used to drive DC torque motor, at last, the arm's movement is achieved by the pendulum rotation driven by motor, working principle is shown as following figure 2, 3.
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Figure 2: Structure Block Diagram of the XZ- Rotary Inverted Pendulum System
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1 The Spiral Arm 2 The Pendulum 3 Potentiometers
4 DC Torque Motor 5 Frame 6 Chassis 7 Power Switch
Figure 3: Mechanical Structure Diagram of the XZ- Rotary Inverted Pendulum System
Introduction about Processing Software
Running DSP.exe, following figures 4, 3 will appear. Through this dialog, we can set up and change all parameters except for parameters of “running mode”. Therefore “running mode” can be changed only when system is stopping, else accident may be happened.
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Figure 4: Main Interface of Processing Software
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Figure 5: “Setting”Interface of Processing Software
Parameter settings include the following three aspects:
Running Mode
Control Mode: System control and data processing are done by the computer, and the sampling and output are achieved by the DSP using serial communication.
Monitor Mode: System control is completed by DSP; the computer is just used for observation and preservation of data.
Control Mode (User-Defined): When the users design their control algorithms, experimental control is done in this mode; system control and data processing are done by the computer, and the sampling and output are achieved by the DSP using serial communication..
Basic Setting
Frequently asked questions
What is the XZ-type rotary inverted pendulum system?
The XZ-type rotary inverted pendulum is a mechatronic system used for real-time motion control via a DSP motion controller and motor torque. It's a multi-variable, nonlinear, non-minimum-phase, unstable, and underactuated system.
What are the main components of the XZ-type rotary inverted pendulum system?
The system includes a DSP controller, DC torque motor, power supply, motor drive, potentiometers for angle measurement, a spiral arm, pendulum, frame, and chassis.
How does the XZ-type rotary inverted pendulum system work?
The DC torque motor drives the spiral arm, which rotates around a vertical plane. The pendulum is connected to the arm and can rotate in a perpendicular plane. Potentiometers measure the angles of the arm and pendulum, sending these signals to the DSP controller. The controller calculates a control law, which is converted to a voltage signal to drive the motor and maintain the pendulum's balance.
What is the role of the DSP controller in the system?
The DSP controller is the core control device. It handles data transfer, A/D and D/A conversion, computation, and data processing. It can complete real-time control algorithms independently or communicate with a computer via RS-232C.
What are the different running modes in the processing software?
The processing software has three running modes: Control Mode (computer control with DSP sampling and output), Monitor Mode (DSP control with computer monitoring), and Control Mode (User-Defined) (users design and control algorithms through computer).
What parameters can be adjusted in the "Basic Setting" of the processing software?
The "Basic Setting" allows for adjusting hardware parameters like motor full capacity voltage and dead voltage. It also enables zeroing the pendulum and spiral arm angles to compensate for collisions or shifts.
What are the Key words in the provided text?
Rotational Inverted Pudulem, Mathematical Model, State Feedback, Simulation, Debugging
- Citar trabajo
- Irfan Jamil et al. (Autor), 2013, Mathematical Model Analysis and Control Algoritms Design based on State Feedback Method of Rotary Inverted Pendulum, Múnich, GRIN Verlag, https://www.grin.com/document/232209
