Implementation of discrete PID on Inverted pendulum

Author

Faizan, Faiza ; Farid, Faizan ; Rehan, Muhammad ; Mughal, Shoaib ; Qadri, M. Tahir

Author_Institution

Dept. of Electron. Eng., Sir Syed Univ. of Eng. & Technol., Karachi, Pakistan

Volume

1

fYear

2010

fDate

22-24 June 2010

Abstract

The objective here is to implement the discrete PID on pendulum. The idea is to balance an Inverted pendulum electro-mechanically using Proportional Integral Differential (PID) Control. The heart of the system is a PIC micro-controller (PIC18F4520). Controller commands the motor through PWM signal, which drives the cart to balance the pendulum in an inverted position. Pendulum´s angular position is fed back by an incremental encoder mounted on its base, which is read by controller. Controller then calculates error and runs the PID algorithm to generate a new command signal. The exact position of pendulum with the value of its gains are sent to the attached Personal Computer (PC) using RS-232 protocol. The front panel is built in LabVIEW software.

Keywords

control engineering computing; discrete systems; microcontrollers; nonlinear systems; peripheral interfaces; pulse width modulation; three-term control; virtual instrumentation; LabVIEW software; PIC microcontroller; PWM signal; RS-232 protocol; discrete PID; incremental encoder; inverted pendulum; motor; personal computer; proportional integral differential control; Computer errors; Error correction; Heart; Microcomputers; Pi control; Proportional control; Protocols; Pulse width modulation; Signal generators; Three-term control; Close loop system; Discrete PID; Inverted pendulum; PWM control;

fLanguage

English

Publisher

ieee

Conference_Titel

Education Technology and Computer (ICETC), 2010 2nd International Conference on

Conference_Location

Shanghai

Print_ISBN

978-1-4244-6367-1

Type

conf

DOI

10.1109/ICETC.2010.5529304

Filename

5529304