- #Inverted pendulum matlab simulink how to
- #Inverted pendulum matlab simulink software
- #Inverted pendulum matlab simulink code
- #Inverted pendulum matlab simulink plus
But I will teach every aspect, including the graphical representation of the movement and the video making using Matlab.ĮDIT 3: Switched tangent representation from tg(theta) to tan(theta) to avoid confusion due to the "g".
#Inverted pendulum matlab simulink how to
Meanwhile, tell me what you think about this and give some insights in how to do betterĮDIT: After the last tutorial I will share the codes for this project, if you want. Here is a little tease for the model I will show you.į16 Simulink Model and 3-Axis Control Laws In the next parts of this tutorial I will talk about the linearization, analysis and control design for this system using multiple strategies (PID, LQR, LQR-Integral).Īlso, in the future I intend to make a tutorial about aircraft flight model and control. Stop Criterion for Model (1/cos(pi/2) -> infinity) Then, the second derivative of the sine is:īack to the cart dynamics, substituting the derivative we have:Īll done with the modelling! Now we just have to create the simulink blocks, as shown below: This report serves as a guide to the current working system and as background information on the inverted pendulum. Algorithms described in this report were successful and consistently produced the desired results. This derivative of sine can be solved by the rule of products, which is:Īlso, using chain rule for the sin/cosine derivative: the Matlab Simulink environment, with a dSPACE DSP controller board for interaction with the physical system. Putting together these relationships, we have: We have an input force, which will be used by our controller to control either the pendulum inclination and/or cart position (depending on control strategy), and also we have a reaction due to the pendulum movement, as seen below: Now, regarding the cart dynamics, it is also possible to use Newton’s second law for translational movement, which states: Putting together all equations these relations, we have: In order to obtain the torque, which is given by a force times a rotation arm, these forces must be decomposed in a way they are perpendicular to the pendulum rotation axis: The torque which act on the pendulum are resulting from gravity and from the pendulum’s reaction to the cart acceleration, depicted on the figure below: Starting with the pendulum dynamics, we have newtons second law of movement applied to rotation, which states:
#Inverted pendulum matlab simulink code
Implementation of the control law in the MCU (HEX or C code to be transfered to the MCU).Ħ – Documentation : A formal report explaining the work done. Circuit diagram of the electrical control system.
#Inverted pendulum matlab simulink software
Functionality to be covered (what outputs are needed, what inputs will be provided and/or altered by the user, etc.).Ĥ – Software Implementation : Design of the closed-loop control system and the simulation of it in the development platform.ĥ – Hardware Design : Selection of the sensor, motor, microcontroller unit (MCU). Also considered in the software implementation stage as explained below.ģ – Software Design : Selection of the development platform (Matlab, Matlab+Simulink, etc.).
Parameter selection (weights, inertia of the pendulum, wheel diameters, etc.)Ģ – Control System Design : Selection of the control strategy.
You may list the project stages as follows:ġ – Mechanical System Design : Mathematical modeling of the mechanical system consisting of the cart and the pendulum.
#Inverted pendulum matlab simulink plus
Who will design also the hardware will have plus point because we also need the hardware of the inverted pendulum.īefore proceeding further, I think it will be good to clarify the details of the project. I need the simulation and mathematical work of the inverted pendulum and also the parameters of system.