교육용 실시간 무선 스윙업 도립진자 제어시스템 설계

The main purpose of this paper is to design an educational real-time control platform for the inverted pendulum with a wireless network between the 1-axis inverted pendulum and control computer. Also the paper is focused on analyzing the nonlinear characteristics of the inverted pendulum and presenting the solution of this problem. The implemented inverted pendulum system can be divided into two parts. One is to measure the state of the inverted pendulum and to send the measured information to controller by using WLAN provided by NI cRIO. The other is the controller that receives the information from wireless LAN and sends the computed control signals to NI cRIO via WLAN. For simple and robust control system, a PID controller is used for the control signal generation. Finally, the implemented wireless inverted pendulum system demonstrated an automatic swing-up capability from a stationary state.