1. Petar Mandic, Mašinski fakultet Univerziteta u Beogradu, Serbia
2. Mihailo Lazarevic, Mašinski fakultet Univerziteta u Beogradu, Serbia
3. Slavoljub Stojanovic, Univeristy of Belgrade, Faculty of Mechanical Engineering, Serbia
4. Milan Ristović, Univeristy of Belgrade, Faculty of Mechanical Engineering, Serbia
This paper presents an example for controlling a rotary inverted pendulum, together with its implementation on a laboratory model. Inverted pendulum is an underactuated mechanical system because it has only one control input and two degrees of freedom. Because of its complex nonlinear dynamics, inverted pendulum is a very common and interesting system in the control applications, and is usually used to test performance of the different control algorithms. First, the mathematical model for the available pendulum is derived using the Rodriguez method. Control problem is usually divided into two different control routines. The first one is to swing the pendulum up from the downward position to upright position, which is commonly solved with energy control strategies. Once the pendulum is close to the desired upright position, a stabilization strategy catches it there and forces the pendulum to an unstable equilibrium point. Algorithm known as the feedback linearization is used to solve the second control problem. Laboratory electromechanical system representing the full control system is described in the remainder of this paper. Key components, beside the pendulum, are cRIO embedded controller, DC motor and its driver, encoders and monitoring PC with LabVIEW software. Mathematical model of the full control system is tested in Matlab Simulink environment, and results obtained are compared with those from laboratory model.
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Datum:
14.01.2013.
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