DocumentCode :
2338732
Title :
Modeling and Simulation for Self-Balance System
Author :
Jun, Sun ; Minglun, Wan
Author_Institution :
Sch. of Traffic & Mech. Eng., Shenyang Jianzhu Univ., Shenyang, China
Volume :
1
fYear :
2010
fDate :
18-20 Dec. 2010
Firstpage :
951
Lastpage :
955
Abstract :
Self-balance system is a kind of special wheeled mobile robots, a typical device used to test control methods. In this paper, based on mechanical analysis, linear and nonlinear models of self-balance system were established. Controllers were designed, including pole-placement and lqr controller, according to linear system theory. By using control and simulation tool box of LabVIEW, pole-placement and lqr controllers were separately used to control the nonlinear model of self-balance system, in the position of near zero angle, getting relative control ranges. Finally, experiment is designed to simulate the input of two controllers. Simulation results show that the control range of pole-placement controller to nonlinear model is ±0.22 radian, with a small controller input while the lqr controller has a wider range of even greater than 1.57radian but larger controller input. Therefore, lqr controller has high requirement to motive power part of hardware system and high cost.
Keywords :
control system synthesis; design engineering; linear quadratic control; linear systems; mobile robots; position control; wheels; LQR controller; LabVIEW; controller input; linear system theory; mechanical analysis; near zero angle; pole-placement controller; self-balance system; special wheeled mobile robots; Labview; Self-balance System; lqr; pole-placement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Digital Manufacturing and Automation (ICDMA), 2010 International Conference on
Conference_Location :
ChangSha
Print_ISBN :
978-0-7695-4286-7
Type :
conf
DOI :
10.1109/ICDMA.2010.104
Filename :
5701314
Link To Document :
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