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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 مریم | melba mary anna university, department of electrical and electronics engineering, tamilnadu, india
نرجس سادات marimuthu | n s 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 |
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زبان مقاله منتشر شده |
en |
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