Balancing a rotational inverted pendulum by fuzzy and pid controllers | |
| Author | Jathunanthanan, Jeyarajah |
| Call Number | AIT Thesis no.ISE-06-22 |
| Subject(s) | Pendulum Rotational motion (Rigid dynamics) |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-06-22 |
| Abstract | The purpose of this project is to design and implement a controller for the Rotational Inverted Pendulum. It may be used to demonstrate some of the underlying principles of Feedback control. This system design includes mechanical dynamic analysis, simulation of system dynamics, component selection and fabrication, Encoder interface design, circuit design and wiring, software design for Interface, system parameter identification and modeling, servo controller design, and finally the control system implementation consist control algorithm development and controller programming. Rotational Inverted Pendulum apparatus was developed and interface to a personal computer through ISA standard interface cards. Mathematical model of the pendulum system was developed using Lagrange's equation and Pendulum System transfer functions were derived using the mathematical model and parameters identified from the system. Inverted pendulum control System was simulated in simulink MATLAB with PID controller and from the simulated result actual controller was developed using C language. The previous knowledge gained from the PID controller was used for fuzzy controller simulation and development using C language. Finally all these components were integrated into a unified system that was clearly demonstrated its ability to accomplish the task of stabilizing an inverted pendulum |
| Year | 2006 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-06-22 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Bohez, Erik L. J.; |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2006 |