Академический Документы
Профессиональный Документы
Культура Документы
70 www.ijeas.org
Control design using backstepping technique for a cart-inverted pendulum system
Figure 2 shows the reference frames and parameters of the J m 1a12 m 1a1 cos 0
0
system. The movement of the cart is constrained in the D(q) 1 ; C q, q ;
1 1 m a sin 0
x-horizontal direction, and the pendulum can rotate in the x-y
m a cos m m 1 1 1
d 0 m a g sin
plane. The system has two DOF and can be fully represented
using two coordinates: horizontal displacement of the cart, s;
G 1
0 d
; g q 11
0
;
0
and rotational displacement of pendulum, φ. Coordinates of
the Centre of Gravity (CoG) of the pendulum is given by:
T
q
1
D(q)
F C q, q q Gq g q
c1 s a1 sin a1 cos 0
(1) M
T m 1a1 cos m 1a1 2 sin d 0s
c1 s a1 cos a1 sin 0
( m m )( d m a g sin ) R
1 1 1 1
m 2a 2 cos 2 (J m a 2 )(m m ) (m m )(J m a 2
) m 2 2
a cos 2
Table 1: Parameters of the inverted pendulum q 1 1 1 1 1 1 1 1 1 1 1 1
M
(J 1 m 1a12 ) m 1a112 sin d 0s
Variable Unit Meaning m 1a1 cos ( d1 m 1a1g sin ) R
Angular displacement of the 2 2
m 1 a1 cos (J 1 m 1a1 )(m m 1) (m m1)(J 1 m 1a 1 ) m 1 a1 cos
2 2 2 2 2 2
F
dt q q q
0
where L is the Lagrange function defined as the difference (4)
m 1a1
between kinetic (T) and potential (V) energies: L = T – V. (J m a 2 )(m m ) m 2a 2
B
ms 2 m 1 s a1 cos
a12 2 sin 2 J 1 2 ,
1 1 1 1 1 1
1 1 2 1
T 0
2 2 2
(J 1 m 1a12 )
1
V m1 ga1 cos R (d1 d 0 )q (J 1 m 1a1 )(m m 1 ) m 1 a1
2 2 2
2
q [ s]T ; F [0 ]T , M / R Table 2: List of Parameters
L Variable Value Unit
(J m 1a121 ) ( m 1a1 cos )s
J1 0.0052 kg.m 2
d L
(J 1 m 1a1 ) ( m 1a1 cos )s (m 1a1 sin )s 0.43 kg
2
m1
dt
m 1.3 kg
L
( m 1a1 cos ) (m m 1) s
s a1 0.157 m
d L
( m1a 1cos ) (m m1) s m 1a1 sin
2
g 9.81 m / s2
dt s
d0 0.147 Nm.s
L L
(m 1a1 sin )s m 1 a 1g sin ; 0 0.00243 Nm.s
s d1
(J 1 m1a 12 ) ( m1a 1cos ) s m 1a1g sin d1 0 (3)
Substituting the parameters given in Table 1 into (4), we
( m 1a1 cos ) (m m 1)s m1a 1 sin d0s
2
obtain:
D(q) q C q, q q Gq g q F
71 www.ijeas.org
International Journal of Engineering and Applied Sciences (IJEAS)
ISSN: 2394-3661, Volume-6, Issue-1, January 2019
x A x Bu T T
; x x 1 x 2 x3 x4 ; y x 1 x 3
y Cx
0 1 0 0 0
50 . 307 0 . 1846 0 0.4357
A
2.9642
0 B (5)
0 0 1 0
0 0.102
1. 9631 0 . 007203
0.6937
C. Permanent Magnet DC Motor Dynamics Fig 4: Diagram simulating the current controller with the
The relation between the armature current and the armature reference set point to 1
voltage can be written in Laplace form as:
U m E emf I m R m sLm The inner loop needs a fast response. Using PI controller
where 𝑅m and 𝐿m are resistance and inductance of the rotor, with the above parameters, the system has a Settling Time of
respectively. 0.008s. Therefore, the designed PI controller meets the
The back-emf voltage created by the motor, Eemf, is requirement.
proportional to the rotor speed as:
III. DESIGN OF CONTROLLERS
Eemf K m
A. Design and Simulation of inverted pendulum Quadratic
The electromagnetic torque generated by the DC motor is optimal regulator problem
proportional to the armature current: The system equation in the state space is represented as
M dt K m I m
x A x Bu
We have:
1 Rm y Cx
Im
1
R m Lm s
U E emf T s 1
U K
m (6) We determine the matrix K of the optimal control vector
m
72 www.ijeas.org
Control design using backstepping technique for a cart-inverted pendulum system
as the virtual control variable, for which the stabilizing where kz is a design parameter.
function is chosen: 1 c1 z1 k1 x4 where c1 is positive. In
addition, the corresponding error state variable is defined as IV. SIMULATION AND EXPERIMENTAL RESULTS
z2 x2 1 . So, we have: z1 x2 k1 x4 z2 c1 z1 . The A. Simulation results
derivative of z2 is computed as follows: Block diagram and simulation result of the controller
z2 x2 1 x2 k1 x4 c1 x2 c1k1 x4 . using swing up in combination with Quadratic optimal
However, the desired dynamics of z2 can be defined: control are shown in Figure 6 and Figure 7.
z2 z1 c2 z2
From these above equations, we design a controller as
below:
1
u (h1 x1 h2 x2 h3 x3 h4 x4 ) 10
2.9642 k1 0.6937
73 www.ijeas.org
International Journal of Engineering and Applied Sciences (IJEAS)
ISSN: 2394-3661, Volume-6, Issue-1, January 2019
Fig. 7 and Fig. 9 show that the transition time of the system V. CONCLUSION
using Quadratic optimal regulator is nearly 4 seconds, while The proposed controller has achieved that the closed-loop
using backstepping control is only 2.2 seconds. This means system is able not only to swing up and balance the pendulum
that the Backstepping control is much better than the from downward position to the upward equilibrium point, but
Quadratic optimal regulator. also to return the cart to its original position on the rail. The
B. Experimental results pendulum is stable at its upward position. This proves that the
control algorithm is effective. In additions, the performance
of controller using backstepping technique is significantly
better than that using Quadratic optimal regulator.
Simulation and experimental results are almost similar. In
experimental results, however, the pendulum still oscillates
slightly around the equilibrium position. This could be due to
the dynamic uncertainty, pinion backlash, motor dead-zone,
magnetic hysteresis, and other mechanical imperfections.
More details about the experiment and its results can be found
at: https://m.youtube.com/watch?v=-RfKzVqG2Z0.
Fig. 10: Block diagram of experimental setup Our future research is control design for the triple link
inverted pendulum system, as shown in Fig. 13.
74 www.ijeas.org
Control design using backstepping technique for a cart-inverted pendulum system
[10] Lixia Deng, Shengxian gGao, 2011, “The design for the controller of
the linear inverted pendulum based on backstepping”, International
Conference on Electronic & Mechanical Engineering and Information
Technology, pp 2892-2895.
[11] Miroslav K., Ioannis K., Petar K. Nonlinear and adaptive control
design. Prentice Hall, 1995.
[12] Chandan Kumar, Santosh Lal, Nilanjan Patra, Kaushik Halder,
Motahar Reza, “Optimal Controller Design for Inverted Pendulum
System based on LQR method”, 2012 IEEE International Conference
on Advanced Communication Control and Computing Technologies
(ICACCCT).
[13] Sandeep D. Hanwate, Yogesh V. Hote, “Design of PID controller for
Inverted Pendulum using Stability Boundary Locus”, 2014 Annual
IEEE India Conference (INDICON).
[14] Ahmad Ilyas Roose, Samer Yahya, Hussain Al-Rizzo, “Fuzzy-logic
control of an inverted pendulum on a cart”, omputers and Electrical
Engineering 61 (2017) 31–47.
[15] Valeri Mladenov, “Application of Neural Networks for Control of
Inverted Pendulum”, WSEAS Transaction on Circuits and Systems,
ISSN: 1109-2734, Issue 2, Volume 10, February 2011.
[16] Tung-Kuan Liu, Yao-Chun Shen and Zu-shu Li, “An Application of
Multiobjective Optimization Genetic Algorithm for
Cart-Double-Pendulum-System Control”, 2006 IEEE International
Conference on Systems, Man, and Cybernetics, October 8-11, 2006,
Taipei, Taiwan.
[17] N. Dhang and S. Majumdar, “Optimal Control of Nonlinear Inverted
Pendulum System, “Using PID Controller and LQR: Performance
Analysis Without and With Disturbance Input”, International Journal
of Automation and Computing 11(6), December 2014.
[18] Noriko Matsuda, Masaki Izutsu, Jun Ishikawa, Katsuhisa Furuta and
Karl J. Astrom, “Swinging-Up and Stabilization Control Based on
Natural Frequency for Pendulum Systems”, 2009 American Control
Conference Hyatt Regency Riverfront, St. Louis, MO, USA June
10-12, 2009.
[19] Rudra S, Barai RK, Maitra M (2014), “Nonlinear state feedback
controller design for underactuated mechanical system: a modified
block backstepping approach”, ISA Trans 53 (2):317–326
[20] Chen, X., Zhou, H., Ma, R & et al. “Linear Motor Driven Inverted
Pendulum and LQR Controller Design”, Proceedings of the IEEE
International Conference on Automation and Logistics, 2007, pp.
1750-1754.
[21] Merakeb, Abdelkader and Achemine, Farida and Messine, Frédéric
Optimal time control to swing-up the inverted pendulum-cart in
open-loop form. (2013) In: Electronics, Control, Measurement, Signals
and their application to Mechatronics (ECMSM 2013), 24 June 2013 -
26 June 2013 (Toulouse, France).
[22] W Torres-Pomales, O R Gonzalez, "Nonlinear control of swing-up
inverted pendulum," IEEE International Conference on Control
Applications, pp. 259-264, SEP. 1996.
[23] Katsuhiko Ogata. Modern Control Engineering. Fifth Edition, Prentice
Hall, 2010.
75 www.ijeas.org