Fuzzy Control Carrier Vehicle with Inverted Pendulum

Fuzzy Control Carrier Vehicle with Inverted Pendulum

Fuzzy Control: Carrier Vehicle with Inverted Pendulum

Technical Description of Fuzzy Control: Carrier Vehicle with Inverted Pendulum

This experimental unit forms part of a series of teaching systems developed in collaboration with the Department of Automation and Information Technology at the Harz University of Applied Studies and Research. A vehicle with an inverted rod pendulum acts as a mechanical multivariable system. A fuzzy control moves the rod pendulum to the centre position, where it is held in position, and at the same time controls the position of the vehicle. A rotary encoder determines the position of the vehicle from the rotation of its wheels. This in turn activates an actuator, the drive motor on the vehicle. The control process is made more difficult by the fact that the vehicle can only move to a limited extent from its original position. A joystick can be used to control the system manually. This allows the degree of difficulty of the control process to be estimated very accurately.

Specification of Fuzzy Control: Carrier Vehicle with Inverted Pendulum

• Fine tuning of a fuzzy control system with strong coupling and use of microcontroller technology
• Inverted rod pendulum with vehicle as mechanical multivariable system, MISO (Multiple Inputs - Single Output)
• Switchable between fuzzy and manual mode
• Motor to drive the vehicle as actuator
• FSH-Shell development software for designing and optimising the fuzzy controller
• Rotary potentiometer as pendulum inclination sensor
• Rotary encoder as vehicle position sensor
• Part of the structured learning concept: level 3

Technical Data of Fuzzy Control: Carrier Vehicle with Inverted Pendulum

Vehicle

• Max. Tensile force: 12N

Rod pendulum

• Length: 990mm
• Weight: 0,1kg
• Drive motor: 12V
• Microcontroller
• 8Bit microcontroller Zilog Z8Encore
• 12-fold ADC 8bit
• Software: FSH-Shell, runs under Windows XP or Windows Vista

Rotary potentiometer

• Resistance value 5kΩ +/- 20%

Rotary encoder

 

• Diameter of sensor wheel: D=40mm
• Impulses per revolution: 50
• Resolution: 2,51mm / impulse

 

Dimensions and Weight of Fuzzy Control: Carrier Vehicle with Inverted Pendulum

 

• l x w x h: 600x520x190mm (control unit)
• Weight: approx. 20kg
• l x w x h: 350x290x1080mm (vehicle)
• Weight: approx. 2kg