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Hello,
I'm working on the project, which requires stabilization of a pendulum in upright position. The real system is based on servo-mechanisms and PLC, that controls the motion. First I used PID controller, but it seemed to be too slow and required very slow velocities, while moving pendulum from downright to upright position. With higher velocities, the controller didn't work at all. And just a note I'm using Bosch Rexroth PLC which works at 55 Hz. The second controller that I used was LQR-Controller, but I had problems, regarding accuracy of a mathematical model that I created - pendulum was stabilized but for very short period - about 1 to 2 sec.
Can anybody advice me how to improve the quality of control and if its even possible to control inverted pendulum at such low frequency rate? Or which method would be the most effective in this case?
Best regards
I'm working on the project, which requires stabilization of a pendulum in upright position. The real system is based on servo-mechanisms and PLC, that controls the motion. First I used PID controller, but it seemed to be too slow and required very slow velocities, while moving pendulum from downright to upright position. With higher velocities, the controller didn't work at all. And just a note I'm using Bosch Rexroth PLC which works at 55 Hz. The second controller that I used was LQR-Controller, but I had problems, regarding accuracy of a mathematical model that I created - pendulum was stabilized but for very short period - about 1 to 2 sec.
Can anybody advice me how to improve the quality of control and if its even possible to control inverted pendulum at such low frequency rate? Or which method would be the most effective in this case?
Best regards