Balance Control of a Car-Pole Inverted Pendulum System

• Main Authors: Jie-Ren Hong, 洪介仁
• Other Authors: Ming-Tzu Ho
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/7fu9a4

碩士 === 國立成功大學 === 工程科學系碩博士班 === 91 === The car-pole inverted pendulum system is an unstable and non-minimum phase system. The mechanism of this system is not complicated so that this system provides a platform for verifying the effectiveness of different control schemes. In this thesis, it is first shown how to build up a car-pole inverted pendulum system. This system includes an armature controlled DC motor, a car, a pendulum, and an optical rotary encoder. Then the mathematical model of the car-pole inverted pendulum system is derived and also the DC motor model is built. The system identification method is then used to determine DC motor parameters. For the control schemes, the pole-placement method and the LQR control law are considered to design the state feedback controller. By comparing the simulation results, performance of the LQR control law is better than that of the pole-placement method. Therefore, the LQR control law is used in the balance control of this system. The control law is implemented through a motion control card. A control panel interface is coded in Visual C++ for controller parameter setting. Moreover balance control of the car-pole inverted system on an incline is studied. The balance controller also uses the LQR control law.