Controller System Design of Two Wheeled Mobile Inverted Pendulum
- Alternative Title
- 이륜 이동도립진자의 제어기 시스템 설계
- Abstract
- This thesis proposes a controller system design method using PD control and backstepping control method to stabilize and to control motion of the two wheeled mobile inverted pendulum. It also presents development results of two wheeled mobile inverted pendulum as follows: Two wheeled mobile inverted pendulum is composed of base platform and chassis with two coaxial wheels. The nonlinear dynamic modeling derived using Newton's 2nd law are presented for two wheeled mobile inverted pendulum. The derived nonlinear dynamic modeling of two wheeled mobile inverted pendulum is linearized. Based on its linearized dynamic modeling of wheel and chassis, a controller system is proposed. The proposed controller system consists of three loops composed of balance control loop, rotation control loop for chassis and position control loop for two wheeled mobile inverted pendulum. The balance and rotation control loops are designed by using Lyapunov function and backstepping control method. The position loop is designed based on PD control method.
A control system to implement the proposed controller system is developed based on PIC 18F452 microcontroller. To obtain the information of two wheeled mobile inverted pendulum state variables, the following sensors are used: encoders, inclinometer sensor and compass sensor. The angle of two wheeled mobile inverted pendulum is measured using inclinometer. Encoders are used to measure the speed of the wheels. The compass sensor is used to measure the rotation angle. The Kalman filter is used to reduce the sensor noise and to estimate the pitch angle and moving displacement based on filtered sensor data.
The two wheeled mobile inverted pendulum is manufactured to experiment the proposed controller system. Finally, the simulation and experimental results are shown to prove effectiveness and the applicability of the proposed controller system.
Keywords: Two Wheeled Mobile Inverted Pendulum, PD Control, Backstepping Control, Kalman Filter Etc.
- Issued Date
- 2013
- Awarded Date
- 2013. 2
- Type
- Dissertation
- Publisher
- 부경대학교
- Affiliation
- 부경대학교 대학원
- Department
- 대학원 메카트로닉스공학협동과정
- Advisor
- 김상봉
- Table Of Contents
- Abstract…… ..................................................................................... iii
List of Figures .................................................................................... v
List of Tables ..................................................................................... v
Chapter 1: Introduction ................................................................. 1
1.1 Motivation and Background ............................................... 1
1.2 Literature Review ................................................................ 3
1.3 Objective and Researching Method .................................... 7
1.4 Outline of thesis and summary of contributions ................. 8
Chapter 2: System Description and System Modeling .............. 10
2.1 System Description ........................................................... 10
2.2 System Modeling .............................................................. 19
2.2.1 Characterization of Wheels ......................................... 22
2.2.2 Body Dynamics ........................................................... 25
Chapter 3: Controller System Design ......................................... 30
3.1 Backstepping Controller Design ....................................... 30
3.1.1 Balance Controller Design .......................................... 31
3.1.2 Rotation Controller Design ......................................... 33
3.2 PD Controller Design ........................................................ 34
3.2.1 Position Controller Design .......................................... 34
Chapter 4: Kalman Filter ............................................................ 36
4.1 Introduction ....................................................................... 36
4.2 Kalman Filter Design ........................................................ 37
4.3 Simulation Results ............................................................ 42
Chapter 5: Simulations and Experimental results .................... 48
5.1 Simulation Results ............................................................ 48
5.2 Experimental Results ........................................................ 52
Chapter 6: Conclusions and Future Works ............................... 54
6.1 Conclusions ....................................................................... 54
6.2 Future Works .................................................................... 55
References… .................................................................................... 57
Publications and Conferences ........................................................ 62
APPENDIX A .................................................................................. 63
- Degree
- Master
- Appears in Collections:
- 대학원 > 메카트로닉스공학협동과정
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