RESEARCH PAPER
Electro Pneumatic Control System for Inverted Pendulum
1
Bialystok University of Technology, Faculty of Mechanical Engineering, Department of Robotics and Mechatronics, ul. Wiejska 45C, 15-351 Białystok, Poland
Submission date: 2020-03-01
Acceptance date: 2020-06-04
Online publication date: 2020-07-24
Publication date: 2020-06-01
Acta Mechanica et Automatica 2020;14(2):91-97
KEYWORDS
ABSTRACT
The paper concerns the inverted pendulum control system with using pneumatic cylinder. A mathematical model of the pendulum used to derive the LQG controller was presented. Prepared laboratory stand was presented and described in detail. The main purpose of the work was experimental researches. A number of control process tests were conducted with variable model parameters such as additional mass, injected disturbances and so on. The results were shown on the time plots of the control object states.
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| eISSN: | 2300-5319 |
| ISSN: | 1898-4088 |
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