Triple Inverted Pendulum System Implementation Using a New ARM/FPGA Control Platform

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Triple Inverted Pendulum System Implementation Using a New ARM/FPGA Control Platform

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Triple Inverted Pendulum System Implementation Using a New ARM/FPGA Control Platform

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/TE02000103" target="_blank" >TE02000103: Centrum inteligentních pohonů a pokročilého řízení strojů (CIDAM)</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 2017 18th International Carpathian Control Conference (ICCC)

ISBN

978-1-5090-4862-5

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

321-326

Název nakladatele

IEEE

Místo vydání

Neuvedeno

Místo konání akce

Sinaia, Romania

Datum konání akce

28. 5. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000426954400060