Title :
Design and implementation of rotary inverted pendulum motion control hardware-in-the-loop simulation platform
Author :
Pan, Feng ; Xue, Dingyu ; Chen, Dali ; Cui, Jianjiang
Author_Institution :
Sch. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China
Abstract :
Based on MATLAB/Simulink control system design and testing environment, the rotary inverted pendulum motion control hardware-in-the-loop simulation platform is designed and implemented by applying hardware-in-the-loop simulation technology. The system mathematical models of single and double inverted pendulums are obtained. The optimal control method is adopted to design the controller and the inverted pendulum is studied in the simulation system loop. We can observe the system dynamic performance in online by building up virtual instruments and verify the effectiveness of the control strategy. The results show that this system is the ideal platform to research and apply control theory.
Keywords :
control system synthesis; motion control; nonlinear control systems; optimal control; pendulums; simulation; double inverted pendulums; hardware-in-the-loop simulation platform; optimal control; rotary inverted pendulum motion control; single inverted pendulums; virtual instruments; Conferences; Control system synthesis; Design engineering; Information science; MATLAB; Mathematical model; Motion control; Optimal control; System testing; Virtual manufacturing; Hardware-In-The-Loop Simulation; Inverted Pendulum; MATLAB/Simulink; Optimal Control;
Conference_Titel :
Control and Decision Conference (CCDC), 2010 Chinese
Conference_Location :
Xuzhou
Print_ISBN :
978-1-4244-5181-4
Electronic_ISBN :
978-1-4244-5182-1
DOI :
10.1109/CCDC.2010.5498818