SIMULATION OF CONTROL SYSTEMS OF TWO-WHEELED SELF-BALANCING PLATFORM
Keywords:
two-wheeled self-balancing platform, control system, model, controllerAbstract
The mathematical model of two-wheeled self-balancing platform, based on the formalization of the dynamics of the inverted pendulum on the wheel, has been examined. On the basis of mathematical model the program model of a platform in Simulink MATLAB is constructed. Review of the control systems represented in literature, in which an adjustment of several parameters (angle of deviation from the vertical and position in space), have been performed. In these systems various combinations of types of regulators (PD-, PID-regulator, fuzzy PD-regulator) are used, and the control action is formed as the sum of output signals of regulators. A new control system of two-wheeled self-balancing platform, in which the position is adjusted by means of change of the platform tilt angle, has been introduced. The possible ways of modification of the introduced scheme have been shown: introduction of classical fuzzy controllers, fuzzy controllers with variable gain at the various stages of the transient process. The simulation models have been developed and debugged for all examined control systems. With the use of Simulink of software package MATLAB the simulation experiments with all models have been performed, according to the results the characteristics of the transient processes (overshoot magnitude and the duration of the transition process) for the tilt angle and the platform position have been measured. The control system with the improved fuzzy PD controller angle and PID controller position has the best characteristics to stabilize platform angle of inclination. The quantitative results for each platform control system allow the comparison and to choose the appropriate scheme depending on the subject domain needs.
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