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a, Serbia
Ali Vahidian-Kamyad
I.
INTRODUCTION
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A. Poorhossein and A. Vahidian-Kamyad Design and Implementation of Sugeno Controller for Inverted Pendulum on a Cart System
x1 = x2
( M + m ) ( I + ml 2 )
x2 = ml cos ( x1 )
ml ( cos ( x1 ) )
+ g ( M + m ) tan ( x1 ) + F
SOLUTION
(1)
(2)
x3 = x4
1
( ml cos ( x ) )2
1
x4 = ( M + m )
( I + ml 2 )
2 2
m l g cos ( x1 ) sin ( x1 )
+ F
+
2
I
ml
+
(
)
parameter
x
M
m
l
b
F
I
Definition
pendulum angle
(rad)
cart position (m)
mass of the cart
(kg)
mass of the
pendulum (kg)
distance from the
turning center to
center of mass of
the pendulum (m)
cart's friction
coefficient (kg/s)
force applied to the
cart (N)
Inertia of pendulum
Experimental
values
,
6 6
1m
0.5 kg.
0.3 kg
0.6 m
(5 x1 + x2 )
Base on equations 2 and 3, two first parts of equations 2
convert to
.
x1 = x 2
.
x 2 = 5 x1 x2
(4)
( M + m ) ( I + ml 2 )
( 5 x1 + x2 ) 0.5 x3
ml cos ( x1 )
ml cos ( x1 )
0.1N / m / sec
2N
0.006kg m2
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(5)
SISY 2010 2010 IEEE 8th International Symposium on Intelligent Systems and Informatics September 10-11, 2010, Subotica, Serbia
C. Sugeno controller
Equation 5 is nonlinear. Implementation of such forces is
complex and expensive. Also, the system with minimum
uncertainty will be unstable. The purpose is to convert
equation 5 to a feasible and more executive force. In this part,
equation 3 will be converted to a Fuzzy Sugeno controller
(FSC) to implement obtained force to the inverted pendulum
system. Based on Sugeno structure, membership functions are
defined as Zero, Positive Small, Positive Big, Negative Small
and Negative Big for all four states (figures 3 to 6).
ulinearized ( x1 , x2 , x3 , x4 ) =
u
u
x1 x10 +
x2 x20
x1
x2
u
u
x3 x30 +
x4 x40 + u x10 , x20 , x30 , x40
+
x3
x4
) (
(6)
u1 = 2.61x1 + 0.85 x2
2
If
theta
is
Zero,
is
Zero
Then
+ 3.3422
,
,
xis
PB
Dx
is PB
and
THEN
...
i , i , i , i
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13
U=
u
i =1
13
i i i i
i =1
i i i
(7)
A. Poorhossein and A. Vahidian-Kamyad Design and Implementation of Sugeno Controller for Inverted Pendulum on a Cart System
D. Stabilization of FSC
With the suggested FSC in II.c and the value of table 1,
maximum of 25 subsystems were suggested. To prove the
stabilization of FSC, firstly, each subsystem is linearized about
its central point. Then matrixes A for each 25 linear
subsystems have been calculated. The eigenvalues of matrixes
A, with the values in table 1, are all negative for each 25 linear
subsystems. Therefore, the FSC can stabilize the inverted
pendulum system in the area of balancing position.
The eigenvalues of matrixes A will remain negative with
uncertainty about 2 degrees in and 5 cm in x [14].
III.
RESULT
A. Simulation results
Fig. 8 and 9 describe simulation results for system with
Sugeno controller for initial value of
.
.
rad .
m
x 2 = 0.1
, x 3 = 0.1 ( m ) , x 4 = 0.1
sec
sec
Figure 8.
x1 = 0.5 ( rad ) ,
for 30 seconds.
sec
( rad )
Figure 9.
sec
Figure 11.
Figure 12.
x ( cm )
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Sampling time
(20 seconds)
Sampling time
20(seconds)
SISY 2010 2010 IEEE 8th International Symposium on Intelligent Systems and Informatics September 10-11, 2010, Subotica, Serbia
u( N )
Sampling time
(20 seconds)
C. Analysis
Simulation shows that our controller can greatly enhance the
stability of the inverted pendulum system. In addition, our
experimental results justify the simulation results.
CONCLUSION
10
experimental
13
experimental
17
experimental
25
experimental
13
simulation
Settling time of
20 sec
17 sec
15 sec
14 sec
10 sec
Settling time of x
20 sec
17 sec
Uncertainty of
about 1
about 2
Uncertainty of x
about 2cm
Stable confine of
20
30
15 sec
D
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14 sec
about 2D
about 2cm
about 2cm
about 5cm
45
55
90D
about 2
10 sec
D
A. Poorhossein and A. Vahidian-Kamyad Design and Implementation of Sugeno Controller for Inverted Pendulum on a Cart System
[8]
ACKNOWLEDGMENT
The authors would like to thank control, welding and CNC
laboratories of Ferdowsi university of Mashhad providing
opportunity to implement inverted pendulum system with
designed controller.
[9]
[10]
REFERENCES
[1]
[2]
[11]
[12]
[4]
[5]
[6]
[7]
[13]
[14]
[15]
[16]
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