가변상수 PID제어를 이용한 도립진자 제어 = Control for inverted pendulum using the variable constant PID controller

다국어 초록 (Multilingual Abstract)

A variable constant PID controller improves the efficiency of PID controller. The Control constant in variable constant PID controller is changed by magnitude of feedback error. This changeable constant solves the tunning problem of the PID controller. When we design the PID controller, a each control constant(proportional constant, integral constant, differential constant) is very important so designning the PID controller is searching for the control constant. But each constant confronts response of the controller. For example the differential constant gorverns the magnitude of over shoot and the length of settling time. If the differential constant is great, then the over shoot is small but the setting time is not. For that reason designning the PID controller is adjust the control constant that makes the rquired reaponse. In PID controller, determinning the control constant goes with the loss of control specifications. But a variable constant. In this paper, we design the variable constant PID controller and verify through the Matlab simulator. Lastly we make the inverted pendulum system using this control theory and micro controller.

목차 (Table of Contents)

• 목차
• 목차 = i
• 그림목차 = ii
• 표목차 = iii
• 1. 서론 = 1
• 2. 도립진자의 분석 = 3
• 2.1 도립진자의 모델링 = 3
• 2.2 도립진자의 제어 가능성 = 7
• 3. 제어기의 설계 = 11
• 3.1 PID제어기 = 11
• 3.2 가변상수PID제어 설계 = 13
• 3.2.1 PD제어기 설계 = 15
• 3.2.2 PID 제어기 설계 = 21
• 3.2.3 가변상수PID제어 = 24
• 4. 제어기의 PORTING = 30
• 4.1 PIC16F877 = 30
• 4.2 제어 알고리즘 = 32
• 4.3 제어기의 하드웨어 설계 = 37
• 5. 실험 및 고찰 = 39
• 6. 결론 = 42
• 참고문헌 = 43
• Abstract = 44