DEVELPMENT OF A PID CONTROL APPLIED TO THE STABILITY OF INVERTED PENDULUM ON WHEELS

Abstract

This work demonstrated one of the ways to control an inverted pendulum on two motorized wheels, through its construction made in a prototype. We tried to keep the prototype built in balance (pendulum vertically upwards), through internal algorithms developed to change the speed and direction of the mobile platform. The stages of system modeling, control design and performance evaluation of the closed-loop system were described. The modeling considered the direct current motor in a flat environment for the operation of the inverted pendulum. This consideration allowed the design of linear controllers with fixed parameters and a PID control technique applied to the stability control of an inverted pendulum was presented, in which it plays a very important role to ensure that there is a good interface between the angle control and the signal. sent to the engines, applying multidisciplinary knowledge in the areas of electronic engineering, mechanics, automation and computing. Using a Proportional Integral and Derivative control, the pendulum was stabilized in the vertical position. Where the objective was to verify the best control as a function of the linear acceleration of the mobile base and the angular displacement of the pendulum for the best stability. A Kalman filter was used to estimate the state variables of the proposed prototype, in order to minimize the average error. Thus achieving the objective set for the study.