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Register a new userDesign of State Feedback Controller to Control of the inverted pendulum
تصميم متحكم التغذية العكسية للتحكم بحركة النواس العكوس
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أحمد الشيحاوي( باحث )
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تم في هذا البحث تصميم متحكم تناسبي تكاملي تفاضلي كلاسيكي (PID controller) و تصميم متحكم تغذية عكسية (State Feedback Controller) للتحكم بحركة النواس العكوس و اجراء عملية المقارنة بين جميع الحالات و اختيار المتحكم الأنسب باستخدام برنامج MATLAB/SIMULINK.
In this research a proportional integral differential classic (PID controller) and state feedback controller was designed to control the in the inverted pendulum and a comparison between all the cases and choose the most suitable controller using MATLAB / SIMULINK program
Artificial intelligence review:
Research summary
يقدم هذا البحث دراسة حول تصميم متحكمات لتحكم بحركة النواس العكوس، وهو نظام غير خطي يستخدم في تطبيقات مثل الروبوتات والمركبات ذاتية القيادة. يتم التركيز على نوعين من المتحكمات: المتحكم التناسبي التكاملي التفاضلي (PID) ومتحكم التغذية العكسية (State Feedback Controller). يتم استخدام برنامج MATLAB/SIMULINK لنمذجة النظام وإجراء المقارنات بين أداء المتحكمين. تظهر النتائج أن متحكم التغذية العكسية يقدم أداءً أفضل من حيث تخميد الاهتزازات وتحقيق استقرار أكبر للنظام مقارنة بمتحكم PID التقليدي. كما يقترح البحث استخدام متحكم منطقي عائم (Fuzzy Logic Controller) في الدراسات المستقبلية لتحسين الأداء الديناميكي للنظام.
Critical review
دراسة نقدية: على الرغم من أن البحث يقدم مقارنة شاملة بين متحكم PID ومتحكم التغذية العكسية، إلا أنه يفتقر إلى تحليل تفصيلي حول تأثير العوامل الخارجية مثل الضوضاء والاضطرابات على أداء المتحكمين. كما أن البحث يركز بشكل كبير على النمذجة الرياضية دون تقديم تجارب عملية تدعم النتائج النظرية. كان من الأفضل تضمين تجارب عملية لتأكيد فعالية المتحكمات المقترحة في بيئات واقعية. بالإضافة إلى ذلك، يمكن تحسين البحث من خلال تقديم تحليل أكثر تفصيلاً حول كيفية تحسين متحكم التغذية العكسية باستخدام تقنيات حديثة مثل الذكاء الاصطناعي.
Questions related to the research
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ما هو النواس العكوس؟
النواس العكوس هو نظام غير خطي يكون فيه استقرار النواس عمودياً للأعلى، ويستخدم في تطبيقات مثل الروبوتات والمركبات ذاتية القيادة.
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ما هي المتحكمات التي تم دراستها في البحث؟
تم دراسة متحكم التناسبي التكاملي التفاضلي (PID) ومتحكم التغذية العكسية (State Feedback Controller).
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ما هي الأداة البرمجية المستخدمة في البحث للنمذجة والمحاكاة؟
تم استخدام برنامج MATLAB/SIMULINK للنمذجة والمحاكاة.
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ما هي التوصيات المستقبلية التي قدمها البحث؟
أوصى البحث بتصميم متحكم منطقي عائم (Fuzzy Logic Controller) لتحسين الأداء الديناميكي للنظام.
References used
P. E. Wellstead, 2000 -Introduction to Physical System Modelling, ACADEMIC PRESS LTD, 24/28 Oval Road London NW1, 256p
GREGORY L. BAKER, JAMES A. BLACKBURN, 2005- The Pendulum A Case Study in Physics, Oxford University Press Inc., New York
José Luis Corona Miranda 2009, APPLICATION OF KALMAN FILTERING AND PID CONTROL FOR DIRECT INVERTED PENDULUM CONTROL, California State University, Chico
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All diagrams appear in the case of the incremental gradient with an increased degree of dirt and as values correspond to each type of clothing.
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