Inverted pendulum control, swing up and reference tracking (PID and LQR)
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- เผยแพร่เมื่อ 21 ก.ย. 2024
- Control of cart position and stabilizing an inverted pendulum using cascaded PID control and LQR control. 5th semester project at Aalborg University Mechanical Engineering and Manufacturing.
I made this in 3 weeks after teaching myself the math for an LQR and I’m not even a mechanical engineer or anything lmao
So cool Frederik. I'm currently working on aeropendulum system in python environment. But i'll love to get my hands on the codes you used for this project. Thank you
The cart movement is smooth.
Very cool video ! Love that 😍
cool. nice work.
Did you use two different control laws while the pendulum is below or above the x-Axis?
We used a swing-up start-sequence based on kinetic and potential energy considerations and switched to the controller when the pendulum was near vertical. Our courses so far have only contained linear control, hence no controller for the swing-up itself.
@@frederikoestergaard2363 can u help me ?I need some information on the strategy for the swing up .
@@ersinicli150 I made a similar experiment but actually used a controller for the swing up section and had great results using model predictive control toolbox from matlab, once the pendulum hit the desired position switched to LQR to mantain the position
Bergstrom Lake
Hello, I am a university student. The inverted pendulum system is my graduation project homework. I have done simulation studies that I have done so far. I would have a few questions.
First of all, I am sure that the model is correct and I have succeeded with the FOPID check. However, when my starting angle is 100 degrees or more, I can balance the angle of the pendulum with the FOPID control. . At 100 degrees and below, the pendulum angle takes on completely different values. What is the reason of this?
My guess is that I first need to get the pendulum angle into the linear operating range by giving an upward maneuver. Can I do this with the upward maneuver?
It's called the swing up method. I've searched but it seems a bit complicated. I couldn't understand exactly what it was. Is it a controller? Would you help me with this topic? I want to maneuver it up and bring it to a certain angle value (100 degrees or 160 degrees) and then control it with FOPID.
Nice work, how i can get a report for more details about your project
As of now, only people at Aalborg University can access semester projects. Only final projects (bachelor and masters) are accessible by the public. If I find a loophole for this, I will let you know.
Hall Jeffrey Taylor Matthew Garcia Timothy
I need some information on the strategy for the swing up .
Estimated buildup of kinetic energy. Then controller was activated when pendulum was near vertical.
@@christiantroelsgaard1619 Thanks
what is your swing up algorithm? do you have reference?
What is the name of Motor? And Torque maximum of it?
It is a brushless DC servomotor from Faulhaber. 4490 H 024 BS K1838. Stall torque: 1523 mNm, and a torque constant of 42 mNm/A
And the maximum of speed DC motor? I search it in the Internet but I don't look it.
@@hoathai7657 www.faulhaber.com/fileadmin/Import/Media/EN_4490_BS_FMM.pdf
Can you put the article or github code and references?
We used MyRIO and LabVIEW in the setup, and tested our controllers i MatLab's simulink on our mathematical models of the system. I don't know the rules for sharing our programming (there is a lot of it), but I will check up on it.
@@frederikoestergaard2363can you provide the matlab and simulink models and codes please of pld and lqr
Can you please make a tutorial
Please upload proper tutorial
9469 Bradtke Rest