Improving steady state stability of a pencil balancing system

  • The purpose of this project is to improve the steady state stability of a pencil balancing system. The first phase of this project involves modeling and implementing of aninverted pendulum system. Aim is to provide a stable control loop to keep a pen inunstable equilibrium, including human pen positioning at startup. Complete anal-ysis of mechanical system is provided through linearized model on operating point,using Matlab Simulink. Our control loop is closed through DVS cameras, providingangle (slope of the captured line) and base position of the moving object. Differenttypes of controllers (from simple PID to self-adaptive controllers and Fuzzy) havebeen analyzed in detail. In order to reduce the extra motion of the cup and makethe system more stable we implemented a low pass filter on the servomotors inputs. This filter can be manually in the configuration panel ajusted. Another point to bediscussed is the startup conditions. The humain slow perception makes it hard towork with aThe purpose of this project is to improve the steady state stability of a pencil balancing system. The first phase of this project involves modeling and implementing of aninverted pendulum system. Aim is to provide a stable control loop to keep a pen inunstable equilibrium, including human pen positioning at startup. Complete anal-ysis of mechanical system is provided through linearized model on operating point,using Matlab Simulink. Our control loop is closed through DVS cameras, providingangle (slope of the captured line) and base position of the moving object. Differenttypes of controllers (from simple PID to self-adaptive controllers and Fuzzy) havebeen analyzed in detail. In order to reduce the extra motion of the cup and makethe system more stable we implemented a low pass filter on the servomotors inputs. This filter can be manually in the configuration panel ajusted. Another point to bediscussed is the startup conditions. The humain slow perception makes it hard towork with a system, which moves with a higher frequency than ours. By means ofthe implemented low pass filter during this project it is much easier to stablize thepencil.show moreshow less

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Metadaten
Author:Benoit Philippe, Pierrick Ausseresse, Shahin AmiriparianORCiDGND
Frontdoor URLhttps://opus.bibliothek.uni-augsburg.de/opus4/71645
URL:http://tum.neurocomputing.systems/fileadmin/w00bqs/www/publications/pp/2011WS-PP-ImprovedPencilBalancer.pdf
Publisher:Lehrstuhl für Steuerungs- und Regelungstechnik, TU München
Place of publication:München
Type:Study Thesis
Language:English
Year of first Publication:2012
Release Date:2020/03/02
Pagenumber:25
Institutes:Fakultät für Angewandte Informatik
Fakultät für Angewandte Informatik / Institut für Informatik
Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Embedded Intelligence for Health Care and Wellbeing