Mathematical Modeling and Control of QNET Rotary Inverted Pendulum in MATLAB and Real Time Implementation in Lab View Using ELVIS

摘要

The objective of this project is the design and comparison of the various controllers for QNET (Quanser NI ELVIS Trainer) Rotary Inverted Pendulum (RIP) Board 2.0 for NI ELVIS. The RIP system is a multivariable mode with highly nonlinear behavior. It is used in the design of highly complex applications like automatic aircraft landing system, and humanoid robot stabilization. In this work, the RIP model is mathematically derived using motion equation of Euler-Lagrange. For controlling the system, PP (pole placement) and LQR(Linear Quadratic Regulator) controllers are designed and implemented in MATLAB for the balancing of the pendulum arm in up-right position. A comparative study was made for analyzing the performance of the controllers in terms of settling time and overshoot range, etc. Based on designed parameters using MATLAB simulation, the control ofreal time Rotary inverted pendulum arm is implemented in LabVIEW platform interfaced with NI ELVIS. From the experimental results of MATLAB simulation and LabVIEWinterfacing, the LQR controller was better than the PP controller in controlling the pendulum arm in upright position.