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INVERTED PENDULUM On A Cart WITH Linear ACTUATOR

This document describes an inverted pendulum on a cart with a linear actuator. It provides an introduction to inverted pendulums and how they are often implemented using a cart and pendulum apparatus. It then discusses modeling and linearization of the system and determining the transfer function. Finally, it discusses controller design using a PID controller and shows examples of controller outputs when varying the PID gains.

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Ritesh Yadav
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44 views

INVERTED PENDULUM On A Cart WITH Linear ACTUATOR

This document describes an inverted pendulum on a cart with a linear actuator. It provides an introduction to inverted pendulums and how they are often implemented using a cart and pendulum apparatus. It then discusses modeling and linearization of the system and determining the transfer function. Finally, it discusses controller design using a PID controller and shows examples of controller outputs when varying the PID gains.

Uploaded by

Ritesh Yadav
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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INVERTED PENDULUM

ON A CART WITH
LINEAR ACTUATOR
SUBJECT CODE – 18MHC302J

PREPARED BY-
HIMANSHU SHARMA (85)
RITESH YADAV (66)
INTRODUCTION

• An inverted pendulum is a pendulum that has its center of mass above its pivot
point. It is unstable and without additional help will fall over.
• An inverted pendulum is a classic problem in dynamics and control theory and is
used as a benchmark for testing control strategies
• It is often implemented with the pivot point mounted on a cart that can move
horizontally under control of an electronic servo system called a cart and
pole apparatus
INVERTED PENDULUM ON THE CART

Where,
M =mass of cart
L =length of rod (considered as negligible mass)
F =Rate of change of momentum
INVERTED PENDULUM ON THE CART

• Essentials of stabilization
• The essentials of stabilizing the inverted pendulum are
1. Tilt angle
2. The position of the cart relative to track center
3. To prevent uncontrolled swinging, the frequency spectrum of the pivot motion
should be suppressed near radian frequency = (g/l)^2
MODELING OF AN INVERTED PENDULUM ON CART

Summing the forces in the free-body diagram of the


cart in the horizontal direction, you get the
following equation of motion.

Where
N is the rection force of pendulum.
B is the friction
M is the mass of cart

Summing the forces in the vertical direction for the


cart will not yield any significant results so we can
neglect it
MODELING OF AN INVERTED PENDULUM ON CART

• Summing the forces in the free-body diagram of the pendulum in the horizontal
direction, you get the following expression for the reaction force 

• Substituting value of N in the equation above gives-


MODELLING OF VERTICAL FORCES IN INVERTED PENDULUM

• Sum the forces perpendicular to the pendulum

• To get rid of the P&N terms in the equation above, sum the moments
about the centroid of the pendulum

• Substituting the above equation in sum of forces perpendicular to pendulum


LINEARIZATION OF SYSTEM

• Since the analysis and control design techniques we will be employing in this
example apply only to linear systems, this set of equations needs to be linearized
• we will linearize the equations about the vertically upward equillibrium position
and will assume that the system stays within a small neighborhood of this
equilibrium. The angle is set to 180 degree.
• Let the deviation of the pendulum's position from equilibrium be
       =    +     
      
LINEARIZATION CONTINUED..

• After substituting the above approximations into our nonlinear governing


equations we arrive at the two linearized equations of motion.
• Previous eqn-

• Now-                                                                                              


FINDING OUT TRANSFER FUNCTION

• We need to take the laplace transform of the equations which will be

• We will eliminate X(s) by substitution for pendulum transfer function

For transfer function of cart, output will be X(s)


CONTROLLER DESIGN

• In order to stabilize and control the angle of the Inverted Pendulum.


• Proportional – Integral – Differential (PID) controller is used as it is simple in
implementation and with high reliability.
• There are three gains for this controller, Kp: proportional gain, Ki: integral gain, Kd:
Differential gain.
• Transfer function is – Kp + Ki/s + Kd*s
CONTROLLER OUTPUTS ON VARYING KP, KI, KD
VALUES

Increase in kd cause decrease in overshoot


CONTROLLER OUTPUTS ON VARYING KP, KI, KD
VALUES

Increase in ki cause increase in settling time


THANK YOU

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