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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Jepsen, F. Sborg, A. Pedersen, A.R. Zhenyu Yang |
| Copyright Year | 2009 |
| Description | Author affiliation: Department of Electronic Systems, Aalborg University, Esbjerg Campus, Niels Bohrs Vej 8, 6700, Denmark (Jepsen, F.; Sborg, A.; Pedersen, A.R.; Zhenyu Yang) |
| Abstract | This paper discusses the development and control of an inverted pendulum system using the reaction wheel mechanism. A laboratory-sized system is developed and services as a physical platform for control test purpose. A hybrid switching controller is designed to swing-up and then stabilize the pendulum at its upright position. Based on the energy analysis, the swing-up controller is developed as a simple modest bang-bang controller which switches the control signal's direction according to the measured pendulum's angle and angular velocity as well. The local stabilizing controller is designed as an observer-based feedback controller. The operating regions and the switching condition between these two controllers are also investigated. The developed controller is implemented in a DSP of type eZdsp F2812 which is plugged in a developed PCB. The simulation and real tests showed consistent and satisfactory performance of this controlled system which is self-developed and successfully controlled with a small financial budget. |
| Starting Page | 2829 |
| Ending Page | 2834 |
| File Size | 5088604 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424426928 |
| DOI | 10.1109/ICMA.2009.5246460 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-08-09 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Wheels Angular velocity control Control systems System testing Laboratories Signal analysis Switches Energy measurement Velocity measurement Goniometers hybrid switching control Inverted Pendulum reaction wheel |
| Content Type | Text |
| Resource Type | Article |
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