Title :
Real time simulation for 2-DOF planar robot based inverted pendulum system
Author :
Pan, Feng ; Chen, Da Li ; Xue, Ding Yu ; Cui, Jian Jiang
Author_Institution :
Acad. of Inf. Sci. & Eng., NEU, Shen Yang, China
Abstract :
Based on system simulation technology of MATLAB/Simulink, this article establishes the system mathematical model by applying the mechanism modeling method; designs and implements the real time simulation system for inverted pendulum servo-control system. The 2-DOF planar robot based inverted pendulum system is a multivariable, nonlinear and unstable actual controlled plant, which has been put in the simulation system loop for simulation study, including designing the system controller, building up the virtual instrument, monitoring the system operation in real-time, on-line and testing the system dynamic properties, this control result is good.
Keywords :
mathematics computing; multivariable systems; nonlinear control systems; pendulums; robots; servomechanisms; 2-DOF planar robot; MATLAB-Simulink; inverted pendulum servo-control system; inverted pendulum system; mechanism modeling method; multivariable nonlinear unstable actual controlled plant; real time simulation system; system controller design; virtual instrument; Control system synthesis; Design methodology; Instruments; MATLAB; Mathematical model; Nonlinear control systems; Real time systems; Robots; Servosystems; System testing; Inverted Pendulum; MATLAB/Simulink; Optimizing Control; Real Time Simulation; Robot;
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
DOI :
10.1109/CCDC.2009.5191735
