- International Journal of Applied Mathematics Electronics and Computers
- Special Issue: (2016) Special Issue
- Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab
Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab
Authors : Sinan Ilgen, Emre Oflaz, Erdi Gülbahçe, Abdullah Çakan
Pages : 326-328
Doi:10.18100/ijamec.270643
View : 19 | Download : 5
Publication Date : 2016-12-01
Article Type : Other
Abstract :This research is aimed at developing a multi-body simulation model and balancing control of a single-wheeled inverted pendulum. A virtual prototype of the system has been built by using Adams software and it is simulated in both Matlab and Adams software together. The Adams model has two inputs (disturbance and control) and two outputs (pendulum angle and wheel position). Proportional-integral-derivative (PID) controller is designed and applied for balancing control and simulation of pendulum angle. The modelling and control results show that the Proportional-integral-derivative (PID) controller can successfully achieve balancing control of the single-wheeled inverted pendulum. Also this paper can make an important contribution to background of two-wheeled robots, self-balancing transportation devices.Keywords : PID Control, Modelling, Simulation, Self-balancing, Single-wheel inverted pendulum