dSPACE-based PID Controller for A Linear Motor Driven Inverted Pendulum

摘要

Inverted pendulum is a kind of typical platform for control theory verification. Noted as a non-linear, strong-coupling and natural instable system, it has been widely concerned for a long time. Permanent magnet linear synchronous motor (PMLSM) driven inverted pendulum (dDIP) [1] is a new member of present similar devices. With dDIP, various unexpected disturbances such as lag effect of a belt attached to a cart and errors caused by a rotary encoder while detecting the position of a cart can be eliminated or reduced to a small range. The real performance of the dDIP is researched in this paper. Based on dSPACE real time control system, the results showed that the controllability of the dDIP is fine, and it also proved that the PID strategy can be used for this typical non-linear system.