Triple Inverted Pendulum System Implementation Using a New ARM/FPGA Control Platform
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F17%3A43931942" target="_blank" >RIV/49777513:23520/17:43931942 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/CarpathianCC.2017.7970419" target="_blank" >http://dx.doi.org/10.1109/CarpathianCC.2017.7970419</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CarpathianCC.2017.7970419" target="_blank" >10.1109/CarpathianCC.2017.7970419</a>
Alternative languages
Result language
angličtina
Original language name
Triple Inverted Pendulum System Implementation Using a New ARM/FPGA Control Platform
Original language description
The paper deals with hardware implementationof triple inverted pendulum on a cart physical model. The inverted pendulum has been very popular benchmark for teaching and research in control theory and robotics for last decades. Extending such task to double, or even triple, serial pendulum mounted on a moving cart, and control its swing-up and balancing, leads not only to a challenging control algorithm design problems. It also pushes very hard requirements to overall hardware implementation. Including precision of sensors, problems with signal transmission from moving parts, and highly dynamic backlash-free drive of the moving cart. Of course, the key part of the control system is a computer, which has enough power to run complex algorithms and which has a fast input/output system to the real physical world. We successfully designed and built a triple inverted pendulum model based on state-of-the-art technology. Feedback signals from moving parts are transmitted by custom wireless data communication system with extremely low transmission delay. Instead of using off-the-shelf prototyping platforms like dSPACE or LabVIEW, the control system is powered by our own hardware design based on the ARM/FPGA System-on-Chip platform. The paper also briefly describes architecture of controller hardware.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/TE02000103" target="_blank" >TE02000103: Center for Intelligent Drives and Advanced Machine Control (CIDAM)</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 2017 18th International Carpathian Control Conference (ICCC)
ISBN
978-1-5090-4862-5
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
321-326
Publisher name
IEEE
Place of publication
Neuvedeno
Event location
Sinaia, Romania
Event date
May 28, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000426954400060