Virtual laboratory for sliding mode and PID control of rotary inverted pendulum

被引：13

作者：

Demirtas, Metin ^{[1
]}

Altun, Yusuf ^{[1
]}

Istanbullu, Ayhan ^{[2
]}

机构：

[1] Balikesir Univ, Dept Elect & Elect Engn, Balikesir, Turkey

[2] Balikesir Univ, Dept Comp Engn, Balikesir, Turkey

来源：

COMPUTER APPLICATIONS IN ENGINEERING EDUCATION | 2013年 / 21卷 / 03期

关键词：

rotary inverted pendulum; virtual laboratory; sliding mode control; PID control; EDUCATIONAL-TOOL; INDUCTION-MOTOR; DESIGN; SPEED;

D O I：

10.1002/cae.20484

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper presents a new virtual laboratory tool which teaches sliding mode control (SMC) and proportional-integral-derivative (PID) control to graduate students. Additionally, it describes performance differences between two control methods graphically. This educational virtual laboratory tool contains the control of rotary inverted pendulum. This system is a typical example of nonlinear and under-actuated systems and also well-known in control engineering for practicing different control theories. At first, the nonlinear dynamic equations of the inverted pendulum are presented. Then a virtual laboratory tool is designed for SMC and PID. After that, the results are analyzed. The validity of designed tool is verified by an experiment. (c) 2010 Wiley Periodicals, Inc. Comput Appl Eng Educ 21: 400-409, 2013

引用

页码：400 / 409

页数：10

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