An Application of DC Motor Modelled Classical Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum System
The rotary inverted pendulum system (RIP), which is highly favored in control applications, is examined in this work. By determining the coordinates of the Rip elements' centers of gravity, the system's total kinetic and potential energies were determined. The kine...
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| Language: | English |
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Firat University
2024-10-01
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| Series: | Firat University Journal of Experimental and Computational Engineering |
| Online Access: | https://dergipark.org.tr/tr/doi/10.62520/fujece.1445734 |
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| author | Muhammet Aydın Oğuz Yakut |
| author_facet | Muhammet Aydın Oğuz Yakut |
| author_sort | Muhammet Aydın |
| collection | DOAJ |
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The rotary inverted pendulum system (RIP), which is highly favored in control applications, is examined in this work. By determining the coordinates of the Rip elements' centers of gravity, the system's total kinetic and potential energies were determined. The kinetic and potential energy expressions were used to generate the Lagrangian function. Expressions providing the system's equations of motion were discovered by taking the Lagrangian approach into consideration. The motor's equations, which will initiate the system, have also been considered. Through the use of state variables and a Matlab program, the system's pendulum angle was managed by using a moving sliding surface and the traditional sliding mode control technique. Based on the dynamics, the slip surface's slope was computed. The sliding surface's slope was computed based on the system's dynamics. The genetic algorithm was utilized to determine the ideal values for the coefficients employed in the control structure. The findings showed that the inaccuracy was roughly zero and that the pendulum angle took around 1.5 seconds to reach the intended reference value. Furthermore, it noted that the motor torque and current values are 12 Nm and 2.5 amps, respectively. The findings show that the motor values are reasonably similar to the values seen in real-world applications. Control in real-time applications won't be an issue if the motor is chosen based on these values. |
| format | Article |
| id | doaj-art-5a8f8562e6464aaeb5e0be1ef4d7dbf3 |
| institution | Kabale University |
| issn | 2822-2881 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | Firat University |
| record_format | Article |
| series | Firat University Journal of Experimental and Computational Engineering |
| spelling | doaj-art-5a8f8562e6464aaeb5e0be1ef4d7dbf32025-01-12T08:01:35ZengFirat UniversityFirat University Journal of Experimental and Computational Engineering2822-28812024-10-013333734910.62520/fujece.1445734 An Application of DC Motor Modelled Classical Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum System Muhammet Aydın0https://orcid.org/0000-0003-2746-9477Oğuz Yakut1https://orcid.org/0000-0002-0986-1435FIRAT ÜNİVERSİTESİFIRAT ÜNİVERSİTESİ The rotary inverted pendulum system (RIP), which is highly favored in control applications, is examined in this work. By determining the coordinates of the Rip elements' centers of gravity, the system's total kinetic and potential energies were determined. The kinetic and potential energy expressions were used to generate the Lagrangian function. Expressions providing the system's equations of motion were discovered by taking the Lagrangian approach into consideration. The motor's equations, which will initiate the system, have also been considered. Through the use of state variables and a Matlab program, the system's pendulum angle was managed by using a moving sliding surface and the traditional sliding mode control technique. Based on the dynamics, the slip surface's slope was computed. The sliding surface's slope was computed based on the system's dynamics. The genetic algorithm was utilized to determine the ideal values for the coefficients employed in the control structure. The findings showed that the inaccuracy was roughly zero and that the pendulum angle took around 1.5 seconds to reach the intended reference value. Furthermore, it noted that the motor torque and current values are 12 Nm and 2.5 amps, respectively. The findings show that the motor values are reasonably similar to the values seen in real-world applications. Control in real-time applications won't be an issue if the motor is chosen based on these values.https://dergipark.org.tr/tr/doi/10.62520/fujece.1445734 |
| spellingShingle | Muhammet Aydın Oğuz Yakut An Application of DC Motor Modelled Classical Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum System Firat University Journal of Experimental and Computational Engineering |
| title |
An Application of DC Motor Modelled Classical Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum System
|
| title_full |
An Application of DC Motor Modelled Classical Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum System
|
| title_fullStr |
An Application of DC Motor Modelled Classical Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum System
|
| title_full_unstemmed |
An Application of DC Motor Modelled Classical Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum System
|
| title_short |
An Application of DC Motor Modelled Classical Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum System
|
| title_sort | application of dc motor modelled classical sliding mode control with moving sliding surface to rotary inverted pendulum system |
| url | https://dergipark.org.tr/tr/doi/10.62520/fujece.1445734 |
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