Abstract
An Inverted pendulum is a nonlinear system and broadly utilized as automated arm. The challenge is to balance the pendulum that can rotate in only two ways, either to the positive or to the negative direction ±180 Degree. This research work is aiming to design a controller based on self-tuned fuzzy logic and (Fuzzy-PD) for QNET-2.0 Rotary Inverted Pendulum using lab-view. This self-tuned fuzzy PD control is responsible to generate computer based signals for stable outputs and can works on errors. Rotary Inverted pendulum (RIP) is used as real time model where self- tuned fuzzy PD control is applied for stabilization. There are two aspects to the control objectives for the inverted pendulum: swing-up and balance in a typical PD system, the balancing controller is generated using a fuzzy logic controller, instead of the proportional term. the swing-up controller is generated in a standard proportional controller by using a fuzzy logic system, instead of the proportional term. To build Lab-VIEW approaches, a software development technique is used to help programmers produce code that has greater potential to solve a problem as opposed to writing code without a design. This approach also helps make coding more accessible, more flexible, and more changeable. Rotary Inverted pendulum systems were operated and managed by means of the PD module and the Fuzzy PD Module in Lab-VIEW. The fuzzy controllers are added into the system after the design of the standard PD and P controllers. The two types of controllers the fuzzy P and the fuzzy P-D, and the common proportional and standard PD, are finally implemented and evaluated on the actual inverted pendulum hardware, and also the Control system output is compared between two different control methods.
Highlights
The Rotary Inverted Pendulum basically exhibits the non-linear behavior its stabilization with different control designs are complex task
[3] Lab-VIEW provides powerful features making it easy to connect to a wide range of hardware and other software One of the most powerful features Lab-VIEW provides the interactive programming experience to engineers and scientists through knobs, buttons, dials, and graphs
When pendulum angle and angular velocity are negative or positive, small power is given to DC motor for balancing controller
Summary
The Rotary Inverted Pendulum basically exhibits the non-linear behavior its stabilization with different control designs are complex task. Different controls are applied such the proportional, integrator, derivative (PID), Robust control and fuzzy logic design. A. LAB-VIEW Lab-VIEW is an integral part of virtual instrumentation as it provides a developer-friendly application development environment designed to support the engineers. [3] Lab-VIEW provides powerful features making it easy to connect to a wide range of hardware and other software One of the most powerful features Lab-VIEW provides the interactive programming experience to engineers and scientists through knobs, buttons, dials, and graphs. One can configure front panels to imitate conventional instrument control panels, build personalized test panels, or visually display process control and operation. Self-tuned Fuzzy-PD Control for QNET 2.0 Rotary Inverted Pendulum using lab-view
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