dSPACE-based PID controller for a linear motor driven inverted pendulum

Author

Ma, Ronghua ; Zhou, Huixing ; Sun, Peng ; Hou, Shulin

Author_Institution

China Agric. Univ., Beijing

fYear

2007

fDate

4-6 Dec. 2007

Firstpage

68

Lastpage

72

Abstract

Inverted pendulum is a kind of typical platform for control theory verification. Noted as a non-linear, strong-coupling and natural instable system, it has been widely concerned for a long time. Permanent magnet linear synchronous motor (PMLSM) driven inverted pendulum (dDIP) is a new member of present similar devices. With dDIP, various unexpected disturbances such as lag effect of a belt attached to a cart and errors caused by a rotary encoder while detecting the position of a cart can be eliminated or reduced to a small range. The real performance of the dDIP is researched in this paper. Based on dSPACE real time control system, the results showed that the controllability of the dDIP is fine, and it also proved that the PID strategy can be used for this typical non-linear system.

Keywords

controllability; linear synchronous motors; machine control; nonlinear control systems; permanent magnet motors; synchronous motor drives; three-term control; controllability; dSPACE-based PID controller; direct drive; driven inverted pendulum; nonlinear system; permanent magnet linear synchronous motor; Agricultural engineering; Control systems; Electronic mail; Instruments; Nonlinear control systems; Servomechanisms; Servomotors; Sun; Synchronous motors; Three-term control; PID control; dDIP; direct drive; linear motor;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Machine Vision in Practice, 2007. M2VIP 2007. 14th International Conference on

Conference_Location

Xiamen

Print_ISBN

978-1-4244-1358-4

Electronic_ISBN

978-1-4244-1358-4

Type

conf

DOI

10.1109/MMVIP.2007.4430717

Filename

4430717