Implement of the inverted pendulum system of cart type via PID control method

카트형 역진자 시스템에 대한 PID제어

  • Cho, Hyung-Min (School of Electrical Engineering, ChungBuk National University) ;
  • Kim, Min-Soo (School of Electrical Engineering, ChungBuk National University) ;
  • Dang, Hyo-Jin (School of Electrical Engineering, ChungBuk National University) ;
  • Lee, Seung-Hoon (School of Electrical Engineering, ChungBuk National University) ;
  • Park, Myung-Jin (School of Electrical Engineering, ChungBuk National University) ;
  • Kwon, Oh-Min (School of Electrical Engineering, ChungBuk National University)
  • 조형민 (충북대학교, 전기공학부) ;
  • 김민수 (충북대학교, 전기공학부) ;
  • 당효진 (충북대학교, 전기공학부) ;
  • 이승훈 (충북대학교, 전기공학부) ;
  • 박명진 (충북대학교, 전기공학부) ;
  • 권오민 (충북대학교, 전기공학부)
  • Published : 2015.07.15

Abstract

This paper is to study the inverted pendulum system of cart type by using the method of PID control. This system is that inverted pendulum maintain a constant balance from unstable state by moving a cart. It is controlled via the PID controller. PID controller is proposed to maintain a constant balance for nonlinear system such as the inverted pendulum system so PID control is widely used in the industrial field because of superior control performance, easy implementation and relatively simple structure. To design this system, it consist of Encorder and DC motor. Encorder is used to read the angle of the pendulum and DC motor is used to change the angle. We can verify results of experiment through the Matlab simulator via the inverted pendulum system of cart type.

Keywords