Inverted Pendulum Experiment

[MatrixOfDynamism]

I have a Question. ANy Idea how a 3d Inverted pendlum did work?

[salakas]

thank you very much

[salakas]

hey, really nice job, im doing an inverted pendulum too, im using pid only and i have some problems. Could you tell me please what motor and what sensor for the pendulum you are using? and something else please, when the LQR controller is used?( all the time or in some specific values?), Thanks

[hijodedios2]

I'm actually not sure about the motor or sensor models. Both were provided in the kit, which is a standard kit from Quanser. The sensor is a wheel encoder, which reports a number between +/- 2100ish to indicate the angle of rotation of the pendulum. 2100 is +pi radians, -2100 is -pi rad, so there's a fairly linear map between sensor reading and true angle.

[hijodedios2]

The "swing-up" and the "stabilization" are really two distinct problems, so it makes sense to separate their implementations. The PID controller is used when the pendulum is more than 15deg from vertical and it swings the "cart" back and forth to swing the pendulum upright. Once within 15deg of vertical the LQR kicks in to stabilize the pendulum.

[karlschlereth]

Hei hijodedios..Ur work is great,Im doing the same project using the quanser system.I have yet to understand the programming part of this project using matlab.I would need some help doing this project.Where can i get more information and help on it? thanks

[hijodedios2]

A standard text like "Modern Control Systems" by Dorf/Bishop has good explanations of the theory behind PID and LQR control. The MATLAB help files themselves actually give quite good examples of how to use Simulink. There isn't any "programming," in terms of code. It's all just connecting Simulink blocks and then calculating the right parameters. Bon chance!