Optical-Mechanical System for Stabilizing an Inverted Pendulum

7th International Scientific Practical Conference "Innovative Technologies in Engineering"

Kuzyakov, O.N.^1 ; Andreeva, M.A.^1

Tyumen State Oil and Gas University, 70 Melnikayte Str., 227, Tyumen

625027, Russia^1

关键词: Equilibrium state;    Inverted pendulum;    Inverted pendulum system;    Mechanical systems;    Movement control;    Open loop unstable systems;    Swing-up;    Upright position;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/142/1/012105/pdf
DOI  :  10.1088/1757-899X/142/1/012105

来源: IOP

【 摘 要 】

Controlling open-loop unstable systems is a common benchmark for designing the algorithms to maintain the equilibrium state of anthropomorphous technical devices used within control theory. In this connection, considerable attention is currently being focused on the problem of stabilizing the inverted pendulum system. In this work, the execution of swinging-up the pendulum and, subsequently, maintaining its upward equilibrium state is presented with the help of the laboratory bench TP-802 by Festo Didactics and the movement control device. The configuration of dynamic system for stabilizing the inverted pendulum is offered. The algorithms to swing-up the pendulum and balance it around its upright position are offered as well.