Balancing inverted pendulum cart on inclines using accelerometers
Balancing inverted pendulum cart on inclines using accelerometers
复制标题
使用加速度计在斜坡上平衡倒立摆车
DOI：
10.1115/1.4052712
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Vikas, Vishesh
中科院分区：
文献类型：
--
作者：
Woods, Cole;Vikas, Vishesh
倒立摆在倾斜表面上的平衡是其在非结构化环境中进行控制的前身。研究人员设计了利用接触式（编码器——放置在摆锤关节处）和非接触式（陀螺仪、倾斜）传感器反馈的控制算法。我们提出了使用非接触式传感器和改进的误差函数对可变倾斜度上的倒立摆车 (IPC) 进行反馈控制。当系统不加速且不翻倒时，系统处于平衡状态（旋转平衡）。当摆沿重力矢量对齐时即可实现这一点。控制反馈是从非接触式传感器获得的，这些传感器包括一对放置在倒立摆上的加速度计和一个放置在小车上的加速度计。所提出的修正误差函数由摆锤的动态（非重力）加速度和小车的速度组成。我们证明当修正误差为零时系统处于平衡状态。我们提出了使用加速度计读数计算摆锤的动态加速度和角度以及倾斜角度的算法。这里，假设小车速度和加速度与电机角速度和加速度成正比。此后，我们使用噪声传感器进行仿真，以说明 IPC 在具有饱和电机扭矩的比例积分微分反馈控制器的未知倾斜角表面上的平衡，包括类似于下坡、平坦和上坡组合的山谷轮廓。使用所提出的修正误差函数和加速度计反馈对系统的成功控制为未来使用全加速度计反馈的非结构化和未知环境的控制器设计提供了依据。
The balance of inverted pendulum on inclined surfaces is the precursor to their control in unstructured environments. Researchers have devised control algorithms with feedback from contact (encoders—placed at the pendulum joint) and noncontact (gyroscopes, tilt) sensors. We present feedback control of inverted pendulum cart (IPC) on variable inclines using noncontact sensors and a modified error function. The system is in the state of equilibrium when it is not accelerating and not falling over (rotational equilibrium). This is achieved when the pendulum is aligned along the gravity vector. The control feedback is obtained from noncontact sensors comprising a pair of accelerometers placed on the inverted pendulum and one on the cart. The proposed modified error function is composed of the dynamic (nongravity) acceleration of the pendulum and the velocity of the cart. We prove that the system is in equilibrium when the modified error is zero. We present algorithm to calculate the dynamic acceleration and angle of the pendulum, and incline angle using accelerometer readings. Here, the cart velocity and acceleration are assumed to be proportional to the motor angular velocity and acceleration. Thereafter, we perform simulation using noisy sensors to illustrate the balance of IPC on surfaces with unknown inclination angles using proportional-integral-derivative feedback controller with saturated motor torque, including valley profile that resembles a downhill, flat, and uphill combination. The successful control of the system using the proposed modified error function and accelerometer feedback argues for future design of controllers for unstructured and unknown environments using all-accelerometer feedback.