- Configure the cylindrical and revolute joints so that the system starts in an equilibrium position, with the pendulum upward.
- Give a small initial angle (a few degrees) to the pendulum, and see if your controller reacts as expected.
- Set the proportional feedback gain so that the controller creates a torque that counteracts the displacement from the equilibrium position.
- Set the derivative gain so that the controller damps the oscillations.
How do I stabilize an inverted Pendulum linked to a wheel in Simscape and Simulink?
6 Ansichten (letzte 30 Tage)
Ältere Kommentare anzeigen
Erik Prade am 25 Mär. 2018
Beantwortet: Nicolas Schmit am 27 Mär. 2018
Hi, I am trying to simulate a inverted Pendulum that is linked to a rotating cylindric plate via a revolute joint. The pendulum starts with an angle of 0°(straight downwards) and the target angle(straight upwards) is pi. My input signal is a torque on a wheel. I have created a control system that uses the outputs pendulum-angle and angular velocity to tilt the pendulum up. Once it reaches the target angle it destabalizes though.
I need help creating a stabilizing control loop or improving my currend control system.
I am using Simscape for the Mechanical System definition and Simulink for the control structures.
Nicolas Schmit am 27 Mär. 2018
Find more on Assembly in Help Center and File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!Start Hunting!