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Iranian Journal of Fuzzy Systems، جلد ۶، شماره ۳، صفحات ۱-۱۵
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| عنوان فارسی |
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| چکیده فارسی مقاله |
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| کلیدواژه‌های فارسی مقاله |
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| عنوان انگلیسی |
MINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL |
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| چکیده انگلیسی مقاله |
This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a controller that swings up the pendulum, keepsit upright and maintains the arm position. In the general intelligent hybridcontroller, a PD controller with a positive feedback is designed for swinging upand a fuzzy balance controller is designed for stabilization. In order to achievethe swing up in a minimal time, a controller named Minimum Time IntelligentHybrid Controller is proposed which is precisely a PD controller together witha pulse step controller for swinging up along with the fuzzy balance controllerfor stabilization. The impulsive control action is tuned by trial and errorto achieve the minimum-time swing-up. An energy based switching controlmethod is proposed to switch over from swing up mode to stabilization mode.Extensive computer simulation results demonstrate that the swing up timeof the proposed minimum-time controller is significantly less than that of theexisting general hybrid nonlinear controller. |
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| کلیدواژه‌های انگلیسی مقاله |
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| نویسندگان مقاله |
P Melba Mary |
Anna University, Department of Electrical and Electronics Engineering,
TamilNadu, India
N. S. Marimuthu |
Anna University, Department of Electrical and Electronics Engineering,
TamilNadu, India
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| نشانی اینترنتی |
http://ijfs.usb.ac.ir/article_197_db94d0141b1671df88589cda49c3502e.pdf |
| فایل مقاله |
اشکال در دسترسی به فایل - ./files/site1/rds_journals/448/article-448-1095373.pdf |
| کد مقاله (doi) |
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| زبان مقاله منتشر شده |
en |
| موضوعات مقاله منتشر شده |
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