Two Wheeled Inverted Pendulum Balancing Control by Using Sliding Mode Control and PD Control

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研究生：	廖壯安 Zhuang-an Liao
論文名稱：	Two Wheeled Inverted Pendulum Balancing Control by Using Sliding Mode Control and PD Control Two Wheeled Inverted Pendulum Balancing Control by Using Sliding Mode Control and PD Control
指導教授：	黃緒哲 Shiuh-Jer Huang
口試委員:	黃安橋 An-Chyau Huang 陳柏全 Bo-Chiuan Chen 周瑞仁 Jui-jen Chou
學位類別：	碩士 Master
系所名稱：	工程學院 - 機械工程系 Department of Mechanical Engineering
論文出版年：	2008
畢業學年度：	96
語文別：	英文
論文頁數：	57
中文關鍵詞：	sliding mode control 、two wheeled inverted pendulum
外文關鍵詞：	sliding mode control, two wheeled inverted pendulum
相關次數：	點閱：289 下載：1
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上一筆

In this thesis, Motor Driver Circuit and Two wheeled Inverted Pendulum system was built with some sensor circuits to calculate the tilt angle of the Two Wheeled Inverted Pendulum and control motors. All the mechatronics system are Integrated into PC based control structure and Turbo C language is used to design the control programs.
The mathematical model of wheeled inverted pendulum which is highly nonlinear is derived. Since Wheeled inverted pendulum is a nonlinear, unstable system, sliding mode control is employed to design the controller. The mathematical model is used to design the Sliding Mode Controller, and some simulation cases are executed to evaluate the dynamic performance of this wheeled inverted pendulum.

Abstract………………………………………………………………………………	I
Content……………………………………………………………………………….	II
List of Figure………………………………………………………………………	IV
Nomenclature…………………………………………………………………………	VI
Chapter 1………………………………………………………………………………	1
	1.1 Introduction…………………………………………………………….	1
	1.2 Literature Review……………………........................	1
		1.2.1 Inverted Pendulum……………………………………...	2
		1.2.2 Two Wheeled Balancing Robot………………………...	4
	1.3 Thesis Structure……………………………………………………..	6
Chapter 2…………………………………......................................7
	2.1 System design and connecting process……………………………	7
	2.2 System Plant…………………………………………………………..	8
	 2.2.1 Hardware……………………………………………………	8
	    2.2.1.1 Moving Robot Plate…………………………………	8
	    2.2.1.2 Actuator……………………………………………..	9
	    2.2.1.3 Sensor………………………………………………………..	9
	    2.2.1.4 PC-Based control system interface cards………………	15
	         2.2.1.4.1 PCL-726……………………………………………..	15
	         2.2.1.4.2 PCL-833……………………………………………..	15
	         2.2.1.4.3 PCL-812……………………………………………..	16
	 2.2.2 Software programs…………………………………………………	17
Chapter 3………………………………………………………………………………	18
	3.1 Dynamic Model of DC motor……………………………………………	18
	3.2 Dynamic Model of Two Wheeled Inverted Pendulum………………	20
	3.3 Parameters……………………………………………………………..	26
Chapter 4………………………………………………………………………………....28
	4.1 PID Control Theories…………………………………………………	28
	4.2 Sliding Mode Control…………………………………………………	31
	4.3 PD Controller Design………………………………………………….	35
	4.4 Sliding Mode Controller design……………………………………	36
	4.4.1 Sliding Mode Control design only considering the
               port angle…..............................................37
	4.4.2 Sliding Mode Control design considering both
               port angle and position...................................38
Chapter 5………………………………………………………………………………....40
	5.1 Experimental & SimulationResults…………………………………	40
	5.2 Discussion………………………………………………………………	51
Chapter 6………………………………………………………………………………....53
	6.1 Conclusion………………………………………………………………..53
	6.2 Future Works………………………………………………………….. 	53
Reference………………………………………………………………………………	54
Aoutobiography………………………………………………………………………..	57

                                

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