Position Control of the Suspended Pendulum System with Particle Swarm Optimization Algorithm

Abstract

In this study, the suspended pendulum system was controlled by PID (Proportional-Integral-Derivative Controller). Obtaining the system parameters was carried out using the PSO (Partical Swarm Optimization) algorithm in the simulation environment. For this purpose, the model of the suspended pendulum system’s model was created. The parameters of the real system were found through the model. Viscous damping coefficient, Moment of Inertia and PID coefficients were calculated as parameters. The calculated values were used in the real system and the real system proved the accuracy of simulation the model. Control of the system was carried out in PLC (Programmable Logical Controller). The force required for the pendulum to reach a certain position was obtained by brushless motor control. ESC (Electronic Speed Control) is used as brushless motor driver and PWM (Pulse Width Modulation) is used as control signal of ESC. The encoder is used to measure the position of the system. System data was obtained with MATLAB. Communication between MATLAB and PLC is realized with OPC (OLE for Process Control). End of the study, it was observed that the simulation and optimization algorithm and the control of the real system gave similar results.