Control of an Inverted Pendulum: Swing up & Stabilization

A Seminar Presentation By: Mohammad Umar Rehman M. Tech. (Inst. & Control) Faculty No. 10-EEM-165

Outline
§ Introduction § The Problem § System Modeling & Stability § Swinging up the pendulum § Balancing & Stabilization § Simplified FLC § Simulation & Results § Conclusion
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Introduction
The inverted pendulum system consists of a vertical rod pivoted at one end on a moving cart It represents a multivariable, inherently unstable, fast reacting, high order system Often used as a benchmark for verifying the performance of a new control method due to its simplicity Many engg. systems can be approximately modeled as pendula Standard part of the Control Engineering Curriculum

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The Good Old Days!

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System Schematic

x
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A Real Apparatus
Moving Cart

DC Motor

Pendulum

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The Problem
To bring the pendulum from its stable equilibrium (pending) position to the upward unstable equilibrium position and to balance it Hence, there are two tasks to be solved: and stabilization swinging up

There are various methods proposed in the literature but the energy control strategy proposed by Åström [4] is a popular one A Fuzzy swinging algorithm is discussed and compared with the energy control strategy
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System Modeling
The system follows Lagrangian Mechanics Modeling is done by writing dynamical force (moment) equations for the cart(pendulum) The variables of interest (state variables) are: 1. Cart position, x, 2. Cart velocity, ẋ , 3. Pendulum position, & 4. Pendulum velocity, Other system parameters are described as follows
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System Parameters
S. No. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. Parameter/Symbol Acceleration due to gravity, g Cart mass, M Bob mass, mB Pole mass, mT Distance from pivot to the centre of bob, L Distance from pivot to the centre of pole, LT Moment of Inertia of the pole w. r. t. pivot, IT Radius of the dc motor shaft, R Moment of inertia of the belt wheel, Jpx Moment of inertia of the DC motor shaft, Jp
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Value/Units 9.81 m/s2 0.128 kg 0.063 kg 0.043 kg 0.33 m 0.17 m 4.14 × 10−4 kg·m2 0.003 m 1.22 ×10−6 kg·m2 3.33 ×10−7 kg·m2
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Free Body Diagrams
 Lθ 2

N M

P

bẋ (friction) F x, ẍ

θ L ẍ mg N

 Iθ

P Cart
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Pendulum
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Modeling…Contd
Dynamic equations are written for both the and the pendulum cart

Interactive forces (N & P have been eliminated) Force Balance Equation (for cart + pendulum in horizontal direction):    F = ( M + m )  + bx + mLθ cos θ− mLθ 2 sin θ x Torque Balance Equation (for pendulum in vertical direction) 2  ( I + mL ) θ + mgL sin θ = −mLx cosθ
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Transfer Function
The linearized equations about θ = π αρε:    + bx − mLθ = u ανδ ( I + mL2 ) θ − mgLθ = mL ( M + m) x  x
mL Τηε τρανσφερ φυνχτιονσ αρε οβταινεδ ασ: Θ( s ) = U (s ) q b( I + mL2 ) 2 ( M + m)mgL bmgL s3 + s − s− q q q s

( I + mL2 ) s 2 − mgL X (s ) = 4 U (s ) q s + b( I + mL2 ) s 3 − ( M + m)mgL s 2 − bmgL s
where , q = ( M + m) I + mL - ( mL )
2

[

(

)

2

]
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State Space Model
The linear state model after incorporating actual numerical values is: 1 0 0  0  0 0 − 33.746 − 2.1107 1  5.3725  +  u(t)  x(t) =  0 0 0 0  0      39.327 0 − 17.724 0 111.33 1 0 0 0 T T C=  , D = [ 0 0] 0 0 1 0    xT = x x θ θ and y T = [ x θ ]

[

]

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System Stability
Inputting the A matrix in MATLAB and typing (A) gives the eigen values as: 0,−33.9570, −5.5677, 5.7777 Again typing rank(ctrb(A,B))gives ans = 4 The system is completely controllable! A suitable state feedback strategy can be now designed eig
UNSTABLE

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Swinging up the pendulum
Two strategies: Energy Control & Fuzzy rule based control are discussed It is required to determine the no. of swings “k” needed to swing up the pendulum from its pending position to the upright position k critically depends on the ratio of effective acceleration of the cart to the gravity acceleration i.e. n = ẍeff/g When max. voltage of 10 V is applied on the dc motor the effective accn. is 3.5318 m/s2

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Contd…

Time response of the accn on applying a max. voltage

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Swinging Zones

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Contd…
Åström’s [4] approach gives the value of k = 4 but cannot be implemented practically due to limited length of track/cart movement (0.5 m) Another approach by Chatterjee [5] considers limited movement and gives k = 6 but the control law proposed is complicated and requires exact measurement of the system variables Fuzzy Control [1] comes in to play at this point. The input variables are x, ẋ, θ and output variable is voltage
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Contd…
Rule base consists of 34 rules. The rules are so constructed to increase the pendulum energy Simulation results show that k = 5 (for real time implementation k = 7) The main advantage of FLC is that accurate measurements are not needed and is not affected by parameter changes & disturbances Stability depends on proper design of the rule base

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Simulink Model

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Simulation Results (Angle)

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Simulation Results (Position)

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Balancing the Pendulum
Pendulum is balanced (stabilized) using state feedback law u = −Kx Gain matrix K is calculated using LQR such that cost T T function J = x Qx + u is minimized Ru dt

∫(

)

For Q = diag[0.25 0 4 0] & R = 0.0003 K = [−28.867 −35.198 −137.6 −13.027] LQR design guarantees stability of the state controller
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Real Time Implementation Results

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Real Time Implementation Results

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Simplification in the FRB
34 is a large no. for the rules Another approach by Nigam [2] combines errors/change in errors in position and angle into a single error “e” and change in error “de” There are only 9 rules in the rule base. Strategy is similar to the previous one
de e N Z P N N N Z Z N Z P P Z P P
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Simulation Results (Angle)

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Simulation Results (Position)

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Conclusion
Inverted pendulum system represents an important control problem and will continue to serve control engg. as new theories evolve Energy control is a convenient strategy for swing up of the pendulum But Fuzzy control approach performs even better than that Pendulum must be stabilized in the upright position using an appropriate strategy

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Video
Click to edit Master text styles Second level ● Third level ● Fourth level ● Fifth level

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References to edit Master text styles Click
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Second level ● Third level ● Fourth level Tovornik, Boris & Nenad Muškinja “Swinging Up and Stabilization of ● Fifth level a Real Inverted Pendulum”, IEEE Transactions on Industrial

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Electronics, Vol. 53, No. 2, pp. 631-639, April 2006. (doi: 0.1109/TIE.2006.870667) Nigam, M. J. et. al. , “Fuzzy Swing-up and Stabilization of Real Inverted Pendulum using Single Rulebase”, Journal of Theoretical & Applied Information Technology, Vol. 6, No. 14, pp. 43-50, 2011. Nasir, Ahmad Bin, Mohd. Fua’ad, “Modeling And Controller Design For An Inverted Pendulum System”, M. E. Thesis, University Teknologi Malaysia, Johor Baru, Malaysia, April 2007. Åström, K. J. & K. Furuta, “Swinging up a pendulum by energy control,”Automatica, vol. 36, no. 2, pp. 287–295, Feb. 2000. D. Chatterjee et. al., “Swing-up and stabilization of a cart-pendulum system under restricted cart track length,” Syst. Control.Lett., vol. 47, no. 11, pp. 355–364, 2002.
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Thank You!!

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Queries
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