Inverted pendulum balancing using fuzzy logic control
This thesis describes the development of an inverted pendulum balancing system using Fuzzy Logic Control (FLC). The system is designed to balance a free swinging inverted pendulum in the center upright position for as much time as possible. The system consists of the inverted pendulum setup, angle s...
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| Format: | text::Thesis |
| Language: | English |
| Published: |
2023
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| Summary: | This thesis describes the development of an inverted pendulum balancing system using Fuzzy Logic Control (FLC). The system is designed to balance a free swinging inverted pendulum in the center upright position for as much time as possible. The system consists of the inverted pendulum setup, angle sensor, MC11-DATS board, H-bridge motor driver circuit and a moving cart. The inverted pendulum is implemented using a 38 cm long metal rod and it is coupled to the angle sensor (implemented by a 100 kw potentiometer) through an aluminum rod. MC11-DATS is a M68HC11 evaluation board that is used for program downloading in this project. The moving cart is implemented by a used printer carriage part and its movement is controlled by a dc motor through the belt drive system on the carriage. H-bridge motor driver circuit is used to control the carriage movement by controlling the direction and speed of the dc motor. |
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