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Ryan's Project Page |
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Intern: Ryan Palmer, California Lutheran University
Mentor: Michael Messina
Faculty Supervisor: Dr. Petar Kokotovic
Department: Center for Control Engineering and Computation (CCEC) |
CART AND INVERTED PENDULUM SYSTEM
The purpose of this project was to learn basic control techniques that can be applied to various systems such as Anti-Aircraft guns, cruise control, automotive suspension, remote control cars and helper robots (robots for disabled people). The specific plant used for this project was the classical inverted pendulum on a cart. The project involves designing a system that moves the cart back and forth in on dimension causing the pendulum to swing up from a relaxed state and into a balanced upright position. The cart sends back data about the pendulum’s angle and position of the cart. Feedback is used to stabilize the system at the desired equilibrium point. The systems are created on MATLAB Simulink then implemented on a Quanser Consulting Inverted Pendulum setup. Using PID controllers I have been able to cause the system to swing up the pendulum and stabilize its upper equilibrium point while keeping the cart stationary. PID is a basic controller that can help understand the effects of control on system properties such as rise time and steady state error. This research will help me be able to work on more complex systems and solve tougher control problems in the future.
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