Electro pneumatic control system for inverted pendulum

• Autorzy: Popławski Krzysztof , Ambroziak Leszek , Kondratiuk Mirosław

Identyfikatory

DOI

10.2478/ama-2020-0013

• Języki publikacji: EN

Abstrakty

EN

The paper concerns the inverted pendulum control system with using pneumatic cylinder. A mathematical model of the pendu-lum used to derive the LQG controller was presented. Prepared laboratory stand was presented and described in detail. The main purpose of the work was experimental researches. A number of control process tests were conducted with variable model parameters such as addi-tional mass, injected disturbances and so on. The results were shown on the time plots of the control object states.

Słowa kluczowe

EN

inverted pendulum; pneumatic actuator; inverted pendulum control; encoder; stabilization

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2020
• Tom: Vol. 14, no. 2
• Strony: 91--97
• Opis fizyczny: Bibliogr. 19 poz., rys., tab., wykr.

Twórcy

autor

Popławski Krzysztof

• Bialystok University of Technology, Faculty of Mechanical Engineering, Department of Robotics and Mechatronics, ul. Wiejska 45C, 15-351 Białystok, Poland

autor

Ambroziak Leszek

• Bialystok University of Technology, Faculty of Mechanical Engineering, Department of Robotics and Mechatronics, ul. Wiejska 45C, 15-351 Białystok, Poland

autor

Kondratiuk Mirosław

• Bialystok University of Technology, Faculty of Mechanical Engineering, Department of Robotics and Mechatronics, ul. Wiejska 45C, 15-351 Białystok, Poland

Bibliografia

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• 16. Wang H., Chamroo A., Vasseur C., Koncar V. (2008), Stabilization of a 2-DOF Inverted Pendulum by a Low Cost Visual Feedback, American Control Conference, Seattle, 11–13 Jun.
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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).