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Concept and applications
Abd-Elmunem Al-Kilani – Ayman Al-Marashdeh
TheAbd-Elmunem Concept .
The inverted pendulum system inherently has two . it has also been useful in illustrating some of the ideas in nonlinear control. Since the system is inherently nonlinear. They are often useful to demonstrate concepts in linear control such as the stabilization of unstable systems.CONCEPT The inverted pendulum system is a standard problem of control system.
is uninteresting form ● Third level a control perspective. . requires control force to maintain the unstable equilibrium position. thus. The stable equilibrium requires no control input to be Click to edit Master text style Second level achieved and. the system will naturally return to this state. ● Fourth level ● Fifth level The unstable equilibrium corresponds to a state in which the pendulum points strictly upwards And.CONCEPT In the absence of any control force. thus.
Sensors are attached to the cart motor and the pendulum pivoted in . The user is able to dictate the position and velocity of the cart through the motor and the track restricts the cart to move in the horizontal direction. an inverted pendulum is attached to a cart equipped with a motor that drives it along a horizontal track.CONCEPT In this system.
if the cart touches either of them the controller will shut off the power to the motor. . Two limit switches are installed at the ends of the track.CONCEPT MATlab/Simulinkg is used to implement the controller and analyze data.
Ayman The Applications .
APPLICATIONS Inverted pendulum has some applications such as: Space Shuttles The concept is used to balance the shuttle while it initiates taking off. . Using this technique protects the shuttle from falling down due to the variety in weight all over it.
crawlers cranes are basically a vehicle with inverted pendulum.APPLICATIONS Tower & Crawler Cranes The balance is needed to keep the machine stable while moving elements around . In tower cranes the concept stays still except the behavior of balancing which depends on . its called “Crawler” due to its movement across the construction field.
APPLICATIONS Segway (PT) It’s a two-wheeled self-balancing electric vehicle PT stands for (Personal transporter) which is a modern vehicle works by the inverted pendulum concept. 2 computers as a control unit. and 2 tilt sensors to detect the device speed. It has 2 servo motors. it also has 5 gyroscopes to detect the orientation .
So if a driver is standing on the Segway. starting in the balanced position. there would be no change. The device is built to stay all the time balanced in one place.APPLICATIONS The servo motor rotates the wheels forwards and Backwards as needed for the balance. but if the driver bends forward for . trying to mirror the process of human walking.
So the side effect of all of this is. it’s . as the Segway tries to regain the balance. same operation happens in the backward moving.APPLICATIONS Once the balance is upset. which gives a signal to The servomotor to move forward to regain the balance. the gyroscopes detect this change and send a signal to the controller.
APPLICATIONS The Segway has many fields to be used in. Finally It’s quiet cheap. It comes with safety instruction . 2000$ .and needs 20 – 30 minutes training before using. airports employees or the army. such as personal use to go to school or having a nice trip around.6000$ depending on the additional features xD. . or even at work like police officers.