The bang-bang-adjust control algorithm and simulation during the swing-up process of circular rail inverted pendulum

Author

Xianglin Hou ; Haifeng Yu ; Cong Chen

Author_Institution

Sch. of Traffic & Mech. Eng., Shenyang Jianzhu Univ., Shenyang, China

fYear

2013

fDate

25-27 May 2013

Firstpage

373

Lastpage

378

Abstract

In this paper, the principles of homogeneous coordinate and analytical mechanics are used to build the equations of the dynamics differential equation of Circular Rail Inverted Pendulum. The Bang-Bang-Adjust Control Algorithm is put forward, and by applying control torque reasonably, the computer control during the swing-up process of Circular Rail Inverted Pendulum has been realized. The computer simulation of the swing-up process of Inverted Pendulum is also provided. The results indicated that the dynamics model and the control method are effective and feasible.

Keywords

bang-bang control; differential equations; nonlinear control systems; pendulums; torque control; analytical mechanic principle; bang-bang-adjust control algorithm; circular rail inverted pendulum; computer simulation; control torque; dynamics differential equation; homogeneous coordinate principle; swing-up process; Angular velocity; Delays; Equations; Mathematical model; Process control; Rails; Torque; Swing-up Process; The Bang-Bang-Adjust Control Algorithm; The Circular Rail Inverted Pendulum;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2013 25th Chinese

Conference_Location

Guiyang

Print_ISBN

978-1-4673-5533-9

Type

conf

DOI

10.1109/CCDC.2013.6560951

Filename

6560951