바퀴구름운동을 고려한 역진자 로봇의 주행

이준호,박치성,황종명,이장명 한국로봇학회 2010 로봇학회 논문지 Vol.5 No.2

This paper aims to add the autonomous driving capability to the inverted pendulum system which maintains the inverted pendulum upright stably. For the autonomous driving from the starting position to the goal position, the motion control algorithm is proposed based on the dynamics of the inverted pendulum robot. To derive the dynamic model of the inverted pendulum robot, a three dimensional robot coordinate is defined and the velocity jacobian is newly derived. With the analysis of the wheel rolling motion, the dynamics of inverted pendulum robot are derived and used for the motion control algorithm. To maintain the balance of the inverted pendulum, the autonomous driving strategy is derived step by step considering the acceleration, constant velocity and deceleration states simultaneously. The driving experiments of inverted pendulum robot are performed while maintaining the balance of the inverted pendulum. For reading the positions of the inverted pendulum and wheels, only the encoders are utilized to make the system cheap and reliable. Even though the derived dynamics works for the slanted surface, the experiments are carried out in the standardized flat ground using the inverted pendulum robot in this paper. The experimental data for the wheel rolling and inverted pendulum motions are demonstrated for the straight line motion from a start position to the goal position.

3단 도립진자의 구조 제안 및 LW-RCP02를 이용한 Swing-up Control의 구현

최창규,주도윤,정종익,이영삼 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.10

In this paper, we propose a new structure for a triple inverted pendulum with easy construction properties. We also implement a swing-up control for the proposed triple inverted pendulum using a lab-built rapid control prototyping environment known as light-weight rapid control prototyping 02 (LW-RCP02). The swing-up control of a triple inverted pendulum has a two-degree-of-freedom structure and requires a very accurate mathematical model. The proposed triple inverted pendulum adopts the same method that was developed for a double inverted pendulum by the authors’ laboratory to achieve excellent matching properties with the model. For free rotation of three pendulums, a hollow shaft revolute joint that can be used with a slip ring is newly proposed. Swing-up control of a triple inverted pendulum is implemented using Simulink and LW-RCP02. Moreover, a two-degree-of-freedom control structure combining feedforward and feedback is adopted for swing-up control of a triple inverted pendulum. We implement the parameter estimation method for the triple inverted pendulum and calculate the trajectory for feedforward control using estimated parameters and the direct transcription method. The uncertainty of feedforward control is compensated by adding a time-varying LQ feedback controller. As the sampling frequency of the implemented controller is 1KHz, real-time control is achievable using a standard PC. .

모델기반 swing-up 제어를 위한 2단 도립진자의 구조 설계 및 계수 추정에 대한 연구

주도윤,최창규,정종익,이영삼 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.9

Mathematical models and parameters with high accuracy are required for the swing-up control of a double inverted pendulum. This study proposes a mechanical structure of a double inverted pendulum having excellent matching characteristics with a mathematical model. The implementation of a parameter estimation method based on nonlinear optimization, which is essential for swing-up control, is also proposed. The proposed structure of a double inverted pendulum eliminates backlash using the direct drive of a BLDC motor, minimizes the unmodeled frictional force through bearing cleaning and oiling, minimizes unnecessary load torque using the double support of a timing pulley shaft and power transmission through a coupling, and constrains the pendulum rotation to one degree-of- freedom by adopting a dual-bearing joint. In addition, both 3D printing and CNC milling are appropriately used to satisfy the requirements for each mechanical part. The swing motion of the manufactured double inverted pendulum is measured using the lab-built light-weight rapid control prototyping 02 (LW-RCP02). The proposed parameter estimation method based on nonlinear optimization is implemented to match the response trajectory of the actual double inverted pendulum with that of a Simulink model implemented as an S-function. Finally, the effectiveness of the proposed double inverted pendulum design and parameter estimation method is confirmed by showing that the mathematical model that, based on the parameters estimated using the proposed method, accurately describes the response characteristics of the double inverted pendulum. .

3차원 도립진자 시스템의 구현 및 퍼지 제어

신호선,추준욱,이승하,이연정,Shin, Ho-Sun,Chu, Jun-Uk,Lee, Seung-Ha,Lee, Yun-Jung 한국지능시스템학회 2003 한국지능시스템학회논문지 Vol.12 No.2

새로운 3차원 도립진자 시스템의 구현 및 퍼지제어에 관하여 논한다. 기존의 1차원 또는 2차원 도립진자 시스템과 달리, 3차원 도립진자 시스템은 상하 운동을 포함하는 인간의 도립진자 제어행위를 적절히 모사할 수 있는 새로운 시스템이다. 3차원 도립진자 시스템의 특성 분석과 퍼지제어기 설계를 위하여 3축 직교로봇과 도립진자를 포함하는 기구부의 동력학식을 유도한다. 로봇의 여유자유도와 제한된 작업영역을 고려하면서 도립진자의 요오(yaw) 및 피치(pitch)각을 제어하기 위한 퍼지제어기 설계 방법을 제안한다. 개발된 PC 기반의 다축제어보드를 이용한 실험 결과를 통하여 제안된 시스템의 성능을 검증한다. The fuzzy control and implementation of a new three-dimensional(3-D) inverted pendulum system are addressed. In comparison with conventional 1-D and 2-D systems, the 3-D inverted pendulum system is a proper benchmark system to simulate human's control action which includes the up and down motion to stabilize an inverted pendulum. To investigate the characteristics of the 3-D inverted pendulum system and to design of a fuzzy controller, we derive dynamic equations of the mechanism including a 3-axis cartesian robot and an inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of an inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot and the constrained workspace are taken into account. The performance of the proposed system is proved by experimental results using a developed PC-based Multi-Motion Control(MMC) board.

Application to Stabilizing Control of Nonlinear Mobile Inverted Pendulum Using Sliding Mode Technique

Nak-Soon Choi,Ming-Tao Kang,Hak-Kyeong Kim,Sang-Yong Park,Sang-Bong Kim 한국해양공학회 2009 韓國海洋工學會誌 Vol.23 No.2

This paper presents a sliding mode controller based on Ackermann's fomula and applies it to stabilizing a two-wheeled mobile inverted pendulum in equilibrium. The mobile inverted pendulum is a system with an inverted pendulum on a mobile cart. The dynamic modeling of the mobile inverted pendulum was established under the assumptions of a cart with no slψ and a pendulum with only planar motion. The proposed sliding mode controller was based upon a class of nonlinear systems whose nonlinear part of the modeling can be linearly parameterized. The sliding surface was obtained in an explicit form using Ackermann's fomula, and then control law was designed from reachability conditions and made the sliding surface attractive to the equilibrium state of the mobile inverted pendulum. The proposed controller was implemented in a Microchip PIC16F877 micro-controller. The developed overall control system is described. The simulation and experimental results are presented to show the effectiveness of the modeling and controller.

Design of Multi-Input/Output Fuzzy Controllerfor inverted pendulum system control

Tack, Han Ho,Lee, Byung Ro 진주산업대학교 산업과학기술연구소 2007 산업과학기술연구소보 Vol.- No.14

This paper describes and compares performances of different fuzzy controllers in stabilizing the balance of an inverted pendulum on a short track after a high disturbance occurs. It compares Mamdani (and its variants, e.g. Passino) with Takagi-Sugeno types of fuzzy controllers and concludes that Takagi-Sugeno is more promising when the length of the track is limited. The work then focuses on the DC electrical motor that produces the torque required for the horizontal movements of the inverted pendulum. A simplified control model for the DC motor is used which includes the motor's time constant as the crucial parameter in producing rapid response to the disturbances. In the currently modeling of fuzzy controllers for the inverted pendulum, the input to the pendulum block is a torque. This torque is produced by an electrical motor which is not included in the model. A disadvantage in this modeling is that the electrical motor dynamics is not built-in the control system independently. Here, a simplified model of a DC electrical motor is incorporated to the system. the electrical motor receives a voltage as its input and produces (outputs) a torque to control the balance of the inverted pendulum. The new approach in modeling a fuzzy control system assists in 1) selecting sensitive parameters for an optimum high performance electrical motor capable to stabilize the inverted pendulum system and 2) designing a Takagi-Sugeno type fuzzy controller.

Experimental Studies of Swing Up and Balancing Control of an Inverted Pendulum System Using Intelligent Algorithms Aimed at Advanced Control Education

Jaekook Ahn,Seul Jung 한국지능시스템학회 2014 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.14 No.3

This paper presents the control of an inverted pendulum system using intelligent algorithms, such as fuzzy logic and neural networks, for advanced control education. The swing up balancing control of the inverted pendulum system was performed using fuzzy logic. Because the switching time from swing to standing motion is important for successful balancing, the fuzzy control method was employed to regulate the energy associated with the angular velocity required for the pendulum to be in an upright position. When the inverted pendulum arrived within a range of angles found experimentally, the control was switched from fuzzy to proportional-integral-derivative control to balance the inverted pendulum. When the pendulum was balancing, a joystick was used to command the desired position for the pendulum to follow. Experimental results demonstrated the performance of the two intelligent control methods.

Swing-up Fuzzy Control of an Inverted Pendulum System for Control Education with an Experimental Kit

Jaekook Ahn,Seul Jung 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10

This paper presents the swing up control of the inverted pendulum system. The inverted pendulum system should have enough energy to become upright position. Pumping motions are generated by the fuzzy rules to increase energy. When the pendulum arrives at the range of certain angle, fuzzy control is switched to the PD control to balance the pendulum. The angle and switching time have been selected based on experimental studies. Successful demonstration has been shown by the experimental studies. The maximum energy is calculated based on theory and compared with that of experimental result.

3차원 도립진자 시스템의 구현 및 퍼지 제어

신호선(Ho-Sun Shin),추준욱(Jun-Uk Chu),이승하(Seungha Lee),이연정(Yun-Jung Lee) 한국지능시스템학회 2003 한국지능시스템학회논문지 Vol.13 No.2

새로운 3차원 도립진자 시스템의 구현 및 퍼지제어에 관하여 논한다. 기존의 1차원 또는 2차원 도립진자 시스템과 달리, 3차원 도립진자 시스템은 상하 운동을 포함하는 인간의 도립진자 제어행위를 적절히 모사할 수 있는 새로운 시스템이다. 3차원 도립진자 시스템의 특성 분석과 퍼지제어기 설계를 위하여 3축 직교로봇과 도립진자를 포함하는 기구부의 동력학식을 유도한다. 로봇의 여유자유도와 제한된 작업영역을 고려하면서 도립진자의 요오(yaw) 및 피치(pitch)각을 제어하기 위한 퍼지제어기 설계 방법을 제안한다. 개발된 PC 기반의 다축제어보드를 이용한 실험 결과를 통하여 제안된 시스템의 성능을 검증한다. The fuzzy control and implementation of a new three-dimensional(3-D) inverted pendulum system are addressed. In comparison with conventional 1-D and 2-D systems, the 3-D inverted pendulum system is a proper benchmark system to simulate human's control action which includes the up and down motion to stabilize an inverted pendulum. To investigate the characteristics of the 3-D inverted pendulum system and to design of a fuzzy controller, we derive dynamic equations of the mechanism including a 3-axis cartesian robot and an inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of an inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot and the constrained workspace are taken into account. The performance of the proposed system is proved by experimental results using a developed PC-based Multi-Motion Control(MMC) board.

Trajectory following control of mobile inverted pendulum robot with pre-determined tilt angle

남미희,한성익,이장명 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.12

S-curved trajectory following control of a mobile inverted pendulum robot (MIR) was implemented in this research based on theMIR dynamics. The tilt angle of the inverted pendulum was determined from the MIR dynamics for a given acceleration to keep theinverted pendulum stable. The driving algorithm for a four-wheeled mobile platform was designed using state feedback to keep theinverted pendulum upright while maintaining the desired velocity trajectory along the entire path. To overcome the disturbancesproduced by the mobile robot motion, the ground’s slant angle was detected by a tilt sensor and used to adjust the pendulum’s operatingpoint. This allowed the MIR to be driven to the desired position while maintaining the desired velocity profile and keeping theinverted pendulum upright. The proposed algorithm was verified using real experiments with straight line and S-curved paths.