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Inverted Pendulum Control Techniques

This document discusses control theory applications for balancing scooters. It presents an inverted pendulum model of a balancing scooter as a rod attached to a cart that can move back and forth. The document derives the system transfer function and shows that the inverted pendulum is unstable. It then describes how adding a P-controller can stabilize the system by closing the loop transfer function.

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Atikah Abdalla
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60 views8 pages

Inverted Pendulum Control Techniques

This document discusses control theory applications for balancing scooters. It presents an inverted pendulum model of a balancing scooter as a rod attached to a cart that can move back and forth. The document derives the system transfer function and shows that the inverted pendulum is unstable. It then describes how adding a P-controller can stabilize the system by closing the loop transfer function.

Uploaded by

Atikah Abdalla
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Control Theory Applications

Balancing Scooters

Prepared by: Dr. Musa


Inverted Pendulum
• Hoover boards, balancing scooters, wiziwig scooters…etc. are
forms of Balancing Inverted Pendulums

Short Video, Balancing Scooter


Inverted Pendulum
• Consider the balancing of an inverted pendulum problem as
shown by the diagram
• Suppose that the cart is massless and it moves on a
frictionless rails
• Assuming a first order motor that generates a traction force
𝑭(𝑺) 𝑪
=
𝑽(𝑺) 𝝉𝑺 + 𝟏

• Where
– C is a motor constant
– 𝜏 is a motor time constant
– V is a motor input voltage
Inverted Pendulum
• First let us draw a sketch of the physical model as shown in the
diagram, with the following assumptions:
– The person will be modeled as a rod with mass m and mass moment of
inertia I
– The rod’s center of gravity is located in the middle
– The rod is pivoted to a massless cart as shown
– The cart can move back and forth in the x-direction
– The motor generates a varying force F
Inverted Pendulum
• From the free body diagram of the cart
– Summation of forces in the x-direction
𝑀𝑥ሷ + 𝑏𝑥ሶ + 𝑁 = 𝐹

– Assuming massless cart and frictionless ground surface


𝑁=𝐹

• From the free body diagram of the rod


– Taking summation of torques about the pivot
𝑇 = 𝐹𝑙 = 𝐼 𝛼ሷ − 𝑚𝑔𝑙sin(𝛼)
Sin(∝)≈∝ 𝑓𝑜𝑟 𝑎 𝑠𝑚𝑎𝑙𝑙 𝑣𝑒𝑟𝑡𝑖𝑐𝑎𝑙 𝑎𝑛𝑔𝑙𝑒

𝑇 = 𝐹𝑙 𝑇𝑜𝑟𝑞𝑢𝑒
Inverted Pendulum
• The system transfer function
∝ (𝑆) 1
𝐺 𝑆 = = 2
𝑇(𝑆) 𝐼𝑆 − 𝑚𝑔𝑙

• The characteristic Equation


𝐷 𝑆 = 𝐼𝑆 2 − 𝑚𝑔𝑙 = 0

𝑚𝑔𝑙
𝑃1,2 =±
𝐼

• The inverted pendulum is unstable


Inverted Pendulum
• Stabilization using a P-Controller
– The closed loop transfer function
𝐶 1
∝ (𝑆) 𝐾𝑝
𝜏𝑆 + 1 𝐼𝑆 2 − 𝑚𝑔𝑙
=
∝𝑑 (𝑆) 1 + 𝐾 𝐶 1
𝑝 𝜏𝑆 + 1
𝐼𝑆 2 − 𝑚𝑔𝑙
𝐶 1
∝ (𝑆) 𝐾𝑝 𝜏𝑆 + 1
𝐼𝑆 2
− 𝑚𝑔𝑙
=
∝𝑑 (𝑆) 1 + 𝐾 𝐶 1
𝑝 𝜏𝑆 + 1
𝐼𝑆 2 − 𝑚𝑔𝑙

∝ (𝑆) 𝐾𝑝 𝐶
=
∝𝑑 (𝑆) (𝜏𝑆 + 1)(𝐼𝑆 2 − 𝑚𝑔𝑙) + 𝐾𝑝 𝐶 equation here.
Type

𝐷 𝑆 = 𝜏𝑆 + 1 𝐼𝑆 2 − 𝑚𝑔𝑙 + 𝐾𝑝 𝐶 = 0
=𝜏𝐼 𝑆 3 + 𝐼𝑆 2 - 𝑚𝑔𝑙 𝜏𝑆+𝐾𝑝 𝐶 −𝑚𝑔𝑙=0
𝑆3
𝑆2
S
𝑆0

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