Implementation of Discrete PID on Inverted Pendulum

摘要：

The objective here is to implement the discrete PID on pendulum. The idea is to balance an Inverted pendulum electro-mechanically using Proportional Integral Differential (PID) Control. The heart of the system is a PIC microcontroller (PICI8F4520). Controller commands the motor through PWM signal, which drives the cart to balance the pendulum in an inverted position. Pendulums angular position is fed back by an incremental encoder mounted on its base, which is read by controller. Controller then calculates error and runs the PID algorithm to generate a new command signal. The exact position of pendulum with the value of its gains are sent to the attached Personal Computer (PC) using RS-232 protocol. The front panel is built in LabVIEW software.

关键词： Inverted pendulum Discrete PID PWM control Close loop system

作者: FaizaFaizan Faizan Farid Muhammad Rehan Shoaib Mughal MTahirQadri

作者单位: Department of Electronics Engineering, Sir Syed University of Engineering & Technology,Karachi, Pakistan

会议类型: 国际会议

会议名称: 2010 2nd International Conference on Education Technology and Computer(第二届IEEE教育技术与计算机国际会议 ICETC 2010)

会议地点: 上海

会议语种:英文

页码: 48-51

在线出版日期: 2010-06-22（万方平台首次上网日期，不代表论文的发表时间）