Real Time Servo Motor Control of Single Rotary Inverted Pendulum Using Dspace
R.Ramesh1, S.Balamurugan2, P.Venkatesh3
1R. Ramesh, Department of Electrical and Electronics Engineering Thiagarajar College of Engineering, Madurai, Tamil Nadu, India.
2S.Balamurugan, Department of Electronics and Instrumentation Engineering K.L.N. College of Engineering, Madurai, Tamil Nadu, India.
3Dr.P.Venkatesh, Department of Electrical and Electronics Engineering Thiagarajar College of Engineering, Madurai, Tamil Nadu, India.
Manuscript received on April 05, 2013. | Revised Manuscript received on April 28, 2013. | Manuscript published on May 05, 2013. | PP: 169-173 | Volume-3, Issue-2, May 2013. | Retrieval Number: B1480053213/2013©BEIESP
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© The Authors. Published By: Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The objective of the paper is to carry out real time experiment using state of art hardware dSPACE DS1104 R&D controller board in a laboratory education point of view. The Quanser servo plant module and dSPACE software with the DS1104 R&D controller board are used in the experiment to derive state space equation for the inverted pendulum (ROTPEN-E). The linear and nonlinear analysis of the plant gives both angles (θ and α) control variations. The LQR controller is stabilizing pendulum upright.
Keywords: Quanser servo plant with Rotary inverted pendulum (SRV02), dSPACE R&D controller board (DS1104), State space equations; LQR control.