APPENDIX

Inverted Pendulum Model

This section describes the reference implementation of simulation model of Inverted pendulum system, as this is only an approximation model, it does not include motor. This model was only developed to understand the behavior of such system; its simulation results dont analytically affect our system. The cart with an inverted pendulum, shown below, is "bumped" with an impulse force, F. We have to determine the dynamic equations of motion for the system, and linearize about the pendulum's angle, theta = Pi (in other words, assume that pendulum does not move more than a few degrees away from the vertical, chosen to be at an angle of Pi)

We will be only interested in the control of the pendulums position. This is because the techniques used in analyzing the model can only be applied for a Single-InputSingle-Output (SISO) system. Therefore, none of the design criteria deal with the cart's position

Force Analysis & System Equations Below are the two Free Body Diagrams of the system.

Summing the forces in the Free Body Diagram of the cart in the horizontal direction, we get the following equation of motion: Note that we could also sum the forces in the vertical direction, but no useful information would be gained. Summing the forces in the Free Body Diagram of the pendulum in the horizontal direction, you can get an equation for N: If we substitute this equation into the first equation, we get the first equation of motion for this system:

To get the second equation of motion, sum the forces perpendicular to the pendulum. Solving the system along this axis ends up saving you a lot of algebra. You should get the following equation:

To get rid of the P and N terms in the equation above, sum the moments around the centroid of the pendulum to get the following equation: Combining these last two equations, we get the second dynamic equation:

Since Matlab can only work with linear functions, this set of equations should be linearized about theta = Pi. Assume that theta = Pi + ( represents a small angle

from the vertical upward direction). Therefore, cos(theta) = -1, sin(theta) = -, and (d(theta)/dt)^2 = 0. After linearization the two equations of motion become (where u represents the input):

Transfer Function To obtain the transfer function of the linearized system equations analytically, we must first take the Laplace transform of the system equations. The Laplace transforms are:

Since we will be looking at the angle Phi as the output of interest, solve the first equation for X(s),

then substituting into the second equation:

Re-arranging, the transfer function is:

where,

From the transfer function above it can be seen that there is both a pole and a zero at the origin. These can be canceled and the transfer function becomes:

State Space After a little algebra, the linearized system equations equations can also be represented in state-space form:

APPENDIX

Component Lists
1. 2. 3. 4. 5. 6. DUNKER MOTOR EN 40V 3500 rpm. Sensor EP-45 (used for angle measurement and position sensing). Inverted pendulum assembly in which pendulum is mounted on cart. ARDUINO MEGA2560 based as DAQ card. Multi turn Potentiometer. LabVIEW user interface: Displays the current stability status and gain values.

Time & Cost Analysis

Contents H-Bridge(Designing & Testing) ISP Programmer Servo Motor( Understanding servo mechanism & motor purchasing) Power supply(5V, 12V, 60V) PIC Development board (Designing & testing) Incremental Encoder (Testing & purchasing) Hardware Assembly (Designing & Testing) Components (MOSFETS, Bridge driver, MAX232, optical isolator ICs, etc) Report printing TOTAL 60 days 10 days

Time

Cost Rs 3,000.00 Rs 6,000.00

30 days

Rs 2,000.00

20 days

Rs 1,500.00

30 days

Rs 2,000.00

10 days 40 days

Rs 3,000.00 Rs 7,000.00

30 days

Rs 4,000.00

30 days 260 days (working)

Rs 3,500.00 Rs 32,000.00

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APPENDIX