An Application of DC Motor Modelled Classical Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum System

Muhammet Aydın; Oğuz Yakut

Makale detayları

An Application of DC Motor Modelled Classical Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum System

Yazarlar:

Muhammet Aydın | Oğuz Yakut

Yayıncı:

Fırat University

Ana Başlıklar:

Makine Teorisi ve Dinamiği

Dergi:

Firat University Journal of Experimental and Computational Engineering Vol.3 Issue 3, pp.337-349

Belge Tipi:

Makale

Yayın Tarihi:

10/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001330486

pISSN:

2822-2881

Anahtar kelimeler:

Özet:

 The rotary inverted pendulum system RIP, which is highly favored in control applications, is examined in this work. By determining the coordinates of the Rip elements centers of gravity, the systems total kinetic and potential energies were determined. The kinetic and potential energy expressions were used to generate the Lagrangian function. Expressions providing the systems equations of motion were discovered by taking the Lagrangian approach into consideration. The motors equations, which will initiate the system, have also been considered. Through the use of state variables and a Matlab program, the systems pendulum angle was managed by using a moving sliding surface and the traditional sliding mode control technique. Based on the dynamics, the slip surfaces slope was computed. The sliding surfaces slope was computed based on the systems dynamics. The genetic algorithm was utilized to determine the ideal values for the coefficients employed in the control structure. The findings showed that the inaccuracy was roughly zero and that the pendulum angle took around 1.5 seconds to reach the intended reference value. Furthermore, it noted that the motor torque and current values are 12 Nm and 2.5 amps, respectively. The findings show that the motor values are reasonably similar to the values seen in real-world applications. Control in real-time applications wont be an issue if the motor is chosen based on these values.

 The rotary inverted pendulum system RIP, which is highly favored in control applications, is examined in this work. By determining the coordinates of the Rip elements centers of gravity, the systems total kinetic and potential energies were determined. The kinetic and potential energy expressions were used to generate the Lagrangian function. Expressions providing the systems equations of motion were discovered by taking the Lagrangian approach into consideration. The motors equations, which will initiate the system, have also been considered. Through the use of state variables and a Matlab program, the systems pendulum angle was managed by using a moving sliding surface and the traditional sliding mode control technique. Based on the dynamics, the slip surfaces slope was computed. The sliding surfaces slope was computed based on the systems dynamics. The genetic algorithm was utilized to determine the ideal values for the coefficients employed in the control structure. The findings showed that the inaccuracy was roughly zero and that the pendulum angle took around 1.5 seconds to reach the intended reference value. Furthermore, it noted that the motor torque and current values are 12 Nm and 2.5 amps, respectively. The findings show that the motor values are reasonably similar to the values seen in real-world applications. Control in real-time applications wont be an issue if the motor is chosen based on these values.

 The rotary inverted pendulum system RIP, which is highly favored in control applications, is examined in this work. By determining the coordinates of the Rip elements centers of gravity, the systems total kinetic and potential energies were determined. The kinetic and potential energy expressions were used to generate the Lagrangian function. Expressions providing the systems equations of motion were discovered by taking the Lagrangian approach into consideration. The motors equations, which will initiate the system, have also been considered. Through the use of state variables and a Matlab program, the systems pendulum angle was managed by using a moving sliding surface and the traditional sliding mode control technique. Based on the dynamics, the slip surfaces slope was computed. The sliding surfaces slope was computed based on the systems dynamics. The genetic algorithm was utilized to determine the ideal values for the coefficients employed in the control structure. The findings showed that the inaccuracy was roughly zero and that the pendulum angle took around 1.5 seconds to reach the intended reference value. Furthermore, it noted that the motor torque and current values are 12 Nm and 2.5 amps, respectively. The findings show that the motor values are reasonably similar to the values seen in real-world applications. Control in real-time applications wont be an issue if the motor is chosen based on these values.

 Bu çalışmada kontrol uygulamalarında çok tercih edilen dönel ters sarkaç sistemi DTS ele alınmıştır. DTS elemanlarının ağırlık merkezi koordinatları bulunarak sistemin toplam kinetik ve potansiyel enerjileri elde edilmiştir. Kinetik ve potansiyel enerji ifadeleri kullanılarak Lagrange fonksiyonu oluşturulmuştur. Lagrange yöntemi dikkate alınarak sistemin hareket denklemlerini veren ifadeler bulunmuştur. Ayrıca sistemi harekete geçirecek olan motorun denklemleri dikkate alınmıştır. Durum değişkenleri kullanılarak Matlab da yazılan program yardımıyla sistemin sarkaç açısı, kayma yüzeyi hareketli klasik kayan kipli kontrol yöntemiyle kontrol edilmiştir. Kayma yüzeyinin eğimi sistemin dinamiklerine bağlı olarak hesaplatılmıştır. Kontrol yapısında kullanılan katsayıların optimum değerleri genetik algoritma yardımıyla bulunmuştur. Sonuçlardan sarkaç açısının istenilen referans değere yaklaşık 1.5 sn civarında ulaştığı ve hatanın yaklaşık sıfır olduğu görülmüştür. Ayrıca motor tork değerinin 12 Nm seviyelerinde ve motor akım değerinin 2.5 amper seviyelerinde olduğu gözlemlenmiştir. Motor değerlerinin pratik uygulamalardaki değerlere yakın makul seviyelerde olduğu sonuçlardan elde edilmiştir. Elde edilen bu değerlere göre motor seçimi yapıldığında gerçek zamanlı uygulamalarda kontrol için sorun yaşanmayacaktır.

Makale detayları

An Application of DC Motor Modelled Classical Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum System

Yazarlar:

Muhammet Aydın | Oğuz Yakut

Yayıncı:

Fırat University

Ana Başlıklar:

Makine Teorisi ve Dinamiği

Dergi:

Firat University Journal of Experimental and Computational Engineering Vol.3 Issue 3, pp.337-349

Belge Tipi:

Makale

Yayın Tarihi:

10/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001330486

pISSN:

2822-2881

Rotary inverted pendulum

Moving sliding mode control

Sliding surface

Motor modelDönel ters sarkaç

Hareketli kayan kipli kontrol

Kayma yüzeyi

Motor model

Sayı

Makale detayları

Yazarlar: Muhammet Aydın | Oğuz Yakut

Yayıncı: Fırat University

Ana Başlıklar: Makine Teorisi ve Dinamiği

Dergi: Firat University Journal of Experimental and Computational Engineering Vol.3 Issue 3, pp.337-349

Belge Tipi: Makale

Yayın Tarihi: 10/2024

Belge Dili: İngilizce

Document ID (Org No.): 2001330486

pISSN: 2822-2881

Sayı

Yazarlar:

Muhammet Aydın | Oğuz Yakut

Yayıncı:

Fırat University

Ana Başlıklar:

Makine Teorisi ve Dinamiği

Dergi:

Firat University Journal of Experimental and Computational Engineering Vol.3 Issue 3, pp.337-349

Belge Tipi:

Makale

Yayın Tarihi:

10/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001330486

pISSN:

2822-2881