Swing Up and Balance Control of DSP-Based Furuta Pendulum System

• Main Authors: Wei-Der Teng, 滕韋德
• Other Authors: Yeong-Hwa Chang
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/51480536898238283088

碩士 === 長庚大學 === 電機工程研究所 === 93 === This thesis mainly investigates the design of swing up controller and balance controller for a typically nonlinear and unstable Furuta pendulum system. The design of swing up controller is based on the energy control method, while the state feedback control scheme is adopted for the design of balance controller, where linear quadratic regulator (LQR) and genetic algorithm (GA) are used to design the optimal feedback gains such that the pendulum can swing up and keep upright from its static downcast state. Finally, a DSP-based real-time control development system, incorporated with field programmable gate array (FPGA), is used to evaluate the proposed works. In this thesis, the pendulum mechanism is driven by an induction motor. Because of the nonlinearity of induction motor, the control of addressed Furuta pendulum system becomes much more difficult and challenge.