verifiedOpen Access Peer-Reviewed Scientific Journal (CC BY 4.0)
Submit Manuscript|OJS Login|Register
Peer-Reviewed Academic JournalInternational Journal of Applied Methods in Electronics and Computers
ISSN: 3023-4409DOI Prefix: 10.58190/ijamec
search
person
Research ArticlesverifiedPeer-ReviewedOpen Access
Pages: 326-328

Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab

Sinan ILGEN •
Emre OFLAZ •
Erdi Gülbahçe •
Abdullah Çakan
Publication DateDecember 1, 2016
Volume / IssueVol. , No. (pp. 326-328)
subject

Abstract

This research is aimed at developing a multi-body simulation model and balancing control of a single-wheeled inverted pendulum. A virtual prototype of the system has been built by using Adams software and it is simulated in both Matlab and Adams software together. The Adams model has two inputs (disturbance and control) and two outputs (pendulum angle and wheel position).  Proportional-integral-derivative (PID) controller is designed and applied for balancing control and simulation of pendulum angle. The modelling and control results show that the Proportional-integral-derivative (PID) controller can successfully achieve balancing control of the single-wheeled inverted pendulum. Also this paper can make an important contribution to background of two-wheeled robots, self-balancing transportation devices.
Keywords:PID ControlModellingSimulationSelf-balancingSingle-wheel inverted pendulum
format_list_numbered

References (12)

Cited Literature
  1. 1

    J. Wu and W. Zhang, Design of Fuzzy Logic Controller for Two-wheeled Self-balancing Robot, 2011 6th International Forum on Strategic Technology, IFOST 2011, Harbin, China, August 2011.

  2. 2

    J. Wu and W. Zhang, Research on Control Method of Two-wheeled Self-balancing Robot, 2011 4th International Conference on Intelligent Computation Technology and Automation, ICICTA 2011, Shenzhen, China, March 2011, vol.1, pp.476-479.

  3. 3

    M.A. Şen and M. Kalyoncu, İki Tekerlekli Kendi Kendini Dengeleyen Robotun Yörünge Takibi için Arı Algoritması kullanarak LQR Kontrolcü Tasarımı, Uluslararası Katılımlı 17. Makina Teorisi Sempozyumu, İzmir, 14-17 Haziran 2015.

  4. 4

    University of Michigan Control Tutorials for MATLAB and Simulink (CTMS) Website. [Online]. Available: http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=SystemModeling

  5. 5

    K.H. Lundberg and T.W. Barton, History of Inverted Pendulum Systems, 8th IFAC Symposium on Advances in Control Education vol. 42, pp 131-135, 2010.

  6. 6

    J.H. Park and S. Jung, “Development and control of a single-wheel robot: Practical Mechatronics approach,” Mechatronics vol. 23 , pp. 594-606, 2013

  7. 7

    P. Cieslak, T. Buratowski, T. Uhl, and M. Giergel, “The mono-wheel robot with dynamic stabilisation,” Robotics and Autonomous Systems, vol. 59, pp 611-619, Sep. 2011.

  8. 8

    J.H. Lee, H.J. Shin, S.J. Lee, and S. Jung, “Balancing control of a single-wheel inverted pendulum system using air blowers: Evolution of Mechatronics capstone design,” Mechatronics, vol. 23, pp. 926-932, 2013.

  9. 9

    J.J. Wang, “Simulation studies of inverted pendulum based on PID controllers,” Simulation Modelling Practice and Theory, vol. 19, pp. 440-449, 2011.

  10. 10

    F. Grasser, A. D'Arrigo, S. Colombi, and A.C. Rufer, “JOE: a mobile, inverted pendulum," IEEE Transactions on Industrial Electronics, vol. 49, pp. 107-114, 2002.

  11. 11

    W. An and Y. Li, Simulation and Control of a Two-wheeled Self-balancing Robot, IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China, pp. 456-461, Dec. 2013.

  12. 12

    M. Kalyoncu, M.A. Şen, and M. Tinkir, İki Tekerlekli Kendini Dengeleyebilen Bir Araç İçin Yapay Sinir Ağı ve Bulanık Mantık Tabanlı Kontrolcü Tasarımı, Otomatik Kontrol Ulusal Toplantısı-(TOK 2014), Otomatik Kontrol Ulusal Toplantısı Bildiriler Kitabı, pp. 682-687, Kocaeli, 11-13 Eylül 2014.

format_quote

How to Cite This Article

S. I., E. O., E. G., A. Ç. (2016). Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab. International Journal of Applied Methods in Electronics and Computers, 326-328. https://doi.org/10.18100/ijamec.270643