An approach to SysML and Simulink based motion controller design for inverted pendulum robots

摘要

Nowadays, a lot of inverted pendulum robots have been developed. The complexity of the dynamical control systems is increased and they are advanced toward autonomous inverted pendulum robots. When the controllers are designed, the software MATLAB/Simulink is often used. It is well known that it is a very useful tool to design and analyze motion control systems. However, it is not always useful to express huge or multifunctional systems. At that time, System Modeling language (SysML) is known as a useful tool for that system design. Then it seems the usage of the both tools are useful. In order to develop the inverted pendulum robots in practice, we need multi-stand points for the real time systems. We have to study the both of them and investigate how to fill the gap. This paper introduces our requirement, overview of inverted pendulum robot system, hardware configurations, and map the balancing control using observer based control from Simulink model to SysML models. Furthermore, SysML is a guideline to define the interconnection between functions and combine them together.