대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
- /
- Pages.544-546
- /
- 2004
관성센서를 이용한 도립진자의 제어를 위한 상보필터 설계 및 성능평가
Design and Performance Evaluation of a Complementary Filter for Inverted Pendulum Control with Inertial Sensors
- 발행 : 2004.11.12
초록
This paper designs and evaluates a complementary filter for fusion of inertial sensor signals. Specifically, the designed filter is applied to inverted pendulum control where the pendulum's angle information is obtained from low-cost tilt and gyroscope sensors instead of an optical encoder. The complementary filter under consideration is a conventional one which consists of low- and high-pass filters. However, to improve the performance of the filter on the gyroscope, we use an integrator in the filter's outer loop. Frequency responses are obtained with both tilt and gyroscope sensors. Based on the frequency response results, we determine appropriate parameter values for the filter. The performance of the designed complementary filter is evaluated by applying the filter to inverted pendulum control. Experiments show that the performance of the designed filter is comparable to that of an optical encoder and low-cost inertial sensors can be used for inverted pendulum control with the heir of sensor fusion.