Browse > Article

LQ Control of Inverted Pendulum Using Hydraulic  

Jung, S.W. (한국기술교육대학교 대학원 메카트로닉스 공학과)
Huh, J.Y. (한국기술대학교 메카트로닉스 공학부)
Rhee, I.S. (한국기술대학교 메카트로닉스 공학부)
Publication Information
Transactions of The Korea Fluid Power Systems Society / v.8, no.2, 2011 , pp. 1-7 More about this Journal
Abstract
An inverted pendulum mounted on a cart and actuated by a hydraulic servo cylinder was designed and built. Position information of the cart was acquired via a potentiometer and a angle of the pendulum was sensed by an incremental encoder. These were collected by a DAQ board and processed through the Real-Time Windows Target software(included in simulink). A simulink graphical program was implemented as a controller of the hydraulic system that governed the motion of the cart in order to maintain vertical balance of the inverted pendulum. The purpose of this study is to develop an electro-hydraulic inverted pendulum system for a modeling and controling the intrinsic unstable system. The simulation results were compared with the experimental and verified.
Keywords
Inverted Pendulum; LQR control; Electro hydraulic servo system;
Citations & Related Records
연도 인용수 순위
  • Reference
1 S. Mori, H. Nishimura, K. Furuta, "Control of Unstable Mechanical System Control of Pendulum", INT. J. Control, Vol.23, No.5, pp.673-692, 1976.   DOI
2 Q. Feng, K. Yamafuji, "Design and Simulation of Control Systems of an Inverted Pendulum", Robotica. Vol. 6, no. 3, pp. 235-241, 1988.   DOI
3 T. Miyagawa, T. Okayasu, Y. Ishida, "Neural Network-Based Model Reference Control for Inverted Pendulum", IEEE International Conference on Neural Networks, Vol.1, 640-644, 1995.
4 한문섭, 허욱열, "도립 진자의 가변 구조 제어", 대한전자공학회 학술회의 논문집, pp. 54-57, 1988.
5 김대현, 정규홍, 이석재, 이교일, "$H{\infty}$ 최적제어이론을 이용한 도립진자의 견실한 보상기 설계에 관한 연구", 대한전자공학회 학술회의 논문집, pp. 213-218, 1991.
6 W. N. White, R. C. Fales, "Control of a Double Inverted Pendulum with Hydraulic Actuation: A Case Study" Proceedings of the American Control Conference, Vol. 1, pp.495-499, 1999.
7 A. Hovingh, M. Roon, "Design and Control of an Inverted Pendulum", Western Michigan University Project Report, 2007.
8 M. W. Spong, "Robot Modeling And Control", John Wiley & Sons inc, pp. 227-229, pp.240-241, 2006.
9 허준영, "가변구조 제어를 이용한 유압굴삭기의 자동화에 관한 연구", 부산대학교 공학박사 학위논문, pp. 19-31, 1989.
10 C. Chen, "Linear System Theory And Design", 3th Ed., Oxford University Press, pp. 143-153, 2009.
11 Ogata, "Modern Control Engineering", 4th Ed., 사이텍 미디어, pp.828-911, 2003.
12 권욱현, 한수희, "도립진자를 활용한 제어시스템설계", 도서출판 아진, pp. 405-413, 2006.