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7 views13 pages

CS PBL

Uploaded by

Amit Rajput
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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PBL Project Report

On
Dynamic modelling of two wheel inverted pendulum

Submitted by

Name – Amit Kumar (2000290310025)


Name – Amit Shukla (2000290310026)
Name – Amit Singh (2000290310027)

Under the Supervision of

Dr. Pravesh Singh & Dr. Himanshu Chaudhary

KIET Group Of Institutions, Delhi – NCR, Meerut Road (NH- 58) Ghaziabad-201206
Department of Electronics and Communications Engineering
Department of Electronics and Communication Engineering

Certificate

This is to certify that the PBL Project Report entitled “Dynamic modelling of two wheel
inverted pendulum”. Which is submitted by Amit Kumar, Amit Shukla & Amit Singh
Is a record of the candidates own work carried out by them under my supervision.

Date Supervisor Name


(Designation)
Table of Contents

Page No.
CERTIFICATE

TABLE OF CONTENTS

ABSTRACT

CHAPTER 1 INTRODUCTION

CHAPTER 2 LITERATURE REVIEW

CHAPTER 3 PROJECT DESCRIPTION

CHAPTER 4 RESULT

CHAPTER 5 APPLICATION OF PROJECT

CHAPTER 6 CONCLUSION AND FUTURE SCOPE

REFERENCES
Abstract of project

A two wheeled inverted pendulum (TWIP) is an


under-actuated mechanical system, which is
inherently open-loop unstable with highly nonlinear
dynamics. This property attracts the interest of
researchers worldwide in recent years. In review,
most of the researcher used either Lagrange or
Newton-Euler for dynamic modelling of TWIP.
Thus, this paper shows the study of the TWIP
system by using Kane's method. The nonlinear
dynamical equations of the TWIP system were first
derived using Kane's Method. Based on the
developed model, simulations study was carried
out and the results show that the TWIP system is
inherently open loop unstable, nonlinear system.
Introduction of Project

To form a two-wheeled inverted pendulum (TWIP), the


pendulum is anchored to a base platform that has a
wheel mounted on each side, as shown in Figure 1.3. In
this case, a motor drives each wheel independently. The
torque from the motors makes the base move to balance
pitch angle of the pendulum. It can move along curved
paths by driving the motors at different speeds.

The two-wheeled inverted pendulum been proposed as


a portable transporter due to its high maneuverability
and small footprints . It has been suggested as a suitable
unit for home and o-ce environments . Controlling such
a system is a challenging problem due to its
nonlinearities, complex dynamics, and uncertain
environmental conditions . The modelling of the system
is also complex because of the rolling/slipping
constraints of the wheels. In spite of its dynamic
complexity, numerous two-wheeled inverted
pendulums have been created by research institutions
and companies .
Two-wheeled inverted pendulum.
Project Description
. Software Required
MATLAB
. MATLAB
MATLAB is a programming platform designed specifically for
engineers and scientists to analyse and design systems and
products that transform our world. The heart of MATLAB is the
MATLAB language, a matrix – based language allowing the
most natural expression of computational mathematics.
1. Analyz data
2. Develop algorithms
3. Create model and application
. Simulink
. Simulink is a MATLAB based graphical programming
environment for modelling, Simulink and analyzing
dynamical systems. Its primary interface block diagramming
tool and a customizable set of block libraries.
. It offers tight integration with the rest of the MATLAB
environment and can either drive MATLAB or be scripted
from it. Simulink is widely used in automatic control and
digital signal processing for multidomain simulation and
model based design.
Application of Project
Dynamic modelling of a two-wheel inverted pendulum
is an important area of research in the field of robotics
and control systems. The two-wheel inverted
pendulum is a common platform used for studying
balance control and motion planning algorithms. In
this system, a rigid body is mounted on two wheel and
is kept in an upright position by controlling the motion
of the wheels.

The dynamics of the two-wheel inverted pendulum


can be modelled using a variety of techniques,
including Lagrange’s equations and Newton’s laws.
One approach is to use the Lagrangian formalism,
which involves defining the system’s kinetic and
potential energy function and then deriving the
questions of motion form the resulting Lagrangian.
Assuming that the wheels are rolling without slipping,
and neglecting any external forces and torques, the
Lagrangian can be written as:
L = T - U = (1/2)mv^2 + (1/2)Iω^2 - mgl cos(θ)
where m is the mass of the pendulum, v is the velocity of
the centre of mass, l is the moment of inertia of the
pendulum about its centre of mass, ω is the angular
velocity of the pendulum, g is the acceleration due to
gravity, l is the length of the pendulum, and θ is the angle
of the pendulum with respect to the vertical.

In order to simulate the dynamics of the two-wheel


inverted pendulum, numerical integration techniques
such as the Runge-Kutta method can be used to solve the
equations of motion. This allows the behaviour of the
system to be studied under different conditions and
control strategies, and can be used to design and test
control algorithms for real-world implementations.
CONCLUSION AND FUTURE SCOPE

In conclusion, the dynamic modelling of the two-wheel


inverted pendulum is a critical step in understanding the
behaviour of this system and developing control
strategies to stabilize it. By using Lagrange's equations or
Newton's laws, we can derive the equations of motion that
describe the behaviour of the system.

Simulating the dynamics of the two-wheel inverted


pendulum using numerical integration techniques allows
us to study the behaviour of the system under different
conditions and control strategies. This is useful for
designing and testing control algorithms for real-world
implementations.

Future scope for the dynamic modelling of the two-wheel


inverted pendulum includes exploring more advanced
control strategies and developing algorithms that can
cope with uncertain and changing environments.
Additionally, incorporating sensory information such as
accelerometers, gyroscopes, and cameras can enhance the
accuracy and effectiveness of control strategies.
Furthermore, the two-wheel inverted pendulum system
can be extended to more complex systems, such as
humanoid robots, which require balance control and
motion planning. The knowledge gained from the
dynamic modelling of the two-wheel inverted pendulum
can be applied to these systems, advancing the field of
robotics and control systems.
REFERENCES

1. Ogata, K. (1997). Modern Control Engineering.


Upper Saddle River, NJ: Prentice-Hall.

2. Slotine, J.-J. E., & Li, W. (1991). Applied Nonlinear


Control. Upper Saddle River, NJ: Prentice-Hall.

3. Khalil, H. K. (2002). Nonlinear Systems. Upper


Saddle River, NJ: Prentice-Hall. M. W. Spong, S.
Hutchinson, and M. Vidyasagar. Robot Modeling
and Control. John Wiley & Sons, 2006.

4. J. L. Castillo and A. Salazar. Dynamics and Control of


Inverted Pendulum-Like Structures. Journal of
Applied Research and Technology, Vol. 11, No. 2,
pp. 218-226, 2013.

5. J. L. Castillo, J. Torres, and A. Salazar. Control of a


Two-Wheeled Inverted Pendulum: A Survey. In
Proceedings of the 3rd Mexican Conference on
Pattern Recognition (MCPR 2011), pp. 206-215,
2011.
6. K. M. Passino and S. Yurkovich. Fuzzy Control.
Addison-Wesley, 1998.

7. M. W. Spong and M. Vidyasagar. Robot Dynamics


and Control. John Wiley & Sons, 1989.

8. J. J. Craig. Introduction to Robotics: Mechanics and


Control. Addison-Wesley, 1989.

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