Analele Universit ii Constantin Brncu i din Trgu Jiu, Seria Inginerie, Nr.

3/2010

PROIECTAREA PRIN METODA LQR I METODA DIRECT LYAPUNOV A SISTEMULUI DE CONTROL AL PROCESULUI PENDUL INVERS ROTATIV Marian Popescu, University Constantin Brncui, Tg-Jiu, ROMANIA Adrian Runceanu, University Constantin Brncui, Tg-Jiu, ROMANIA Constantin Cercel, University Constantin Brncui, Tg-Jiu, ROMANIA
Rezumat: n cadrul acestei lucrri se va prezenta implementarea unui sistem de control a procesului real pendul invers rotativ. Acest sistem prezint restricii puternice de timp real i totodat precizia comenzii calculate trebuie s fie ct mai mare, datorit faptului c sistemul are n plan vertical_Up un singur punct de echilibru instabil. Algoritmii implementai sunt bazai pe o structur de reglare cu reacie dup variabilele de stare i proiectarea s-a realizat prin metoda LQR(Linear Quadratic Regulator) i prin metoda direct Lyapunov, realizndu-se astfel i o comparaie ntre cele dou metode. Cuvinte cheie: Lyapunov, LQR, pendul invers rotativ

LQR DESIGN METHOD AND LYAPUNOV DIRECT METHOD PROCESS CONTROL SYSTEM "ROTARY INVERTED PENDULUM" Marian Popescu, University Constantin Brncui, Tg-Jiu, ROMANIA Adrian Runceanu, University Constantin Brncui, Tg-Jiu, ROMANIA Constantin Cercel, University Constantin Brncui, Tg-Jiu, ROMANIA
Abstract: This paper will present the implementation of a real process control system inverted pendulum rotating. This system has powerful real-time restrictions and also calculated the accuracy of the order must be as large because the system is planning vertical_Up one unstable equilibrium point. Implemented algorithms are based on a reaction after adjusting structure state variables and design was done by the method LQR (Linear Quadratic Regulator) and Lyapunov direct method, thus achieving a comparison between the two methods. Keywords: Lyapunov method, LQR method, rotational inverted pendulum

1. DESCRIEREA PROCESULUI PENDUL INVERS ROTATIV Rotary inverted pendulum is used very much in control systems to illustrate the idea of Pendulul invers rotativ este utilizat automatic control technology. Being an foarte mult n domeniul sistemelor de control unstable nonlinear system and basically has pentru a ilustra idea tehnologiei controlului two vertical equilibrium points, one stable automat. Fiind un sistem neliniar i instabil, and one unstable vertical-Down-Up-down, practic are 2 puncte de echilibru n plan is very useful in testing new developments vertical, unul stabil vertical-Down i altul in nonlinear systems. As construction instabil vertical-Up, este foarte util n testarea consists of an arm driven by a DC motor noilor dezvoltri n domeniul sistemelor that rotates horizontally and is attached to neliniare. Ca i construcie, este format dintr- the end of the pendulum itself that rotates in un bra acionat de un motor de c.c. ce se a vertical plane perpendicular to the actuator rotete n plan orizontal i are ataat la capt arm, as in Fig.1.
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1. INVERTED PENDULUM ROTARY PROCESS DESCRIPTION

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pendulul propriu-zis care se rotete ntr-un plan vertical perpendicular pe braul de acionare, ca n Fig.1. Z X l L P PWM Y

O Fig.1. Vertical_Up pendulum.

Datorit faptului c pendulul invers rotativ are 2 grade de libertate rotaionale i numai un element de execuie, acest sistem intr n categoria sistemelor subacionate. Ideea meninerii pendulului n pozitia vertical-Up const n proiectarea unui sistem de control care s balanseze, printr-o corecie continu a comenzii la motorul de acionare, pendulul n jurul punctului de echilibru instabil din planul vertical. Motorul care realizeaz acionarea este conectat mecanic la braul pendulului printr-un mecanism de roi dinate care realizeaz o multiplicare a turaiei i totodat conecteaz i poteniometrul de msur a poziiei braului.
2.MODELAREA PENDULULUI N POZIIE VERTICAL-UP

Because the rotary inverted pendulum has two rotational degrees of freedom and only one element of performance, this system falls into the category of under operated systems. The idea of maintaining the pendulum in vertical-up position is to design a control system to balance, through a continuous adjustment to the engine control actuators, the pendulum around the equilibrium unstable plane. Performing drive motor is connected mechanically to the arm by a gear mechanism that achieves a multiplication of speed and also connect and position measuring potentiometer arm.
2.MATHEMATICAL MODELING FOR VERTICAL_UP PENDULUM

Pornind de la Fig.1. a pendulului poziionat n plan vertical-Up, vom avea proiecia micrii pendulului n planul XOY ca n Fig.2. Modelarea micrii pendulului se va realiza folosind ecuaiile Euler-Lagrange i vom considera pentru simplificare ca avnd centrul de greutate chiar n vrful pendulului.

Based on Fig.1. the pendulum positioned vertically-Up, we have movement in the plane projection xOy as Fig.2. Modeling of pendulum motion will be made using the Euler-Lagrange equations and we consider for simplicity as being the center of gravity even at the top of the pendulum.

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x1

Lcos L

O Fig.2. Projection in xOy plan Pendulum motion in the horizontal plane Lsin

y1

lsin Y

Lagrangeanul sistemului este: Lagrangean system is: 1 1 1 & 2 + 1 m l 2 & cos m gl cos = & 2 + m p L2 & 2 + ( J p + m p l 2 ) & 2 sin2 m p Ll & L = J b p p 2 2 2 2 (1) 1 1 1 2 2 2 &2 2 2 2 & & + ( J p + m p l ) + m p l & sin m p Ll & cos m p gl cos = ( J b + m p L ) 2 2 2 Pentru coordonata generalizat avem For generalized coordinates we have ecuaia Lagrange: Lagrange equation:
d L L = & dt unde -este cuplul total care acioneaz asupra axei de rotaie n direcia creterii lui . Acesta reprezint cuplul exercitat de motor- m care trebuie s nving cuplul de frecare. & = m Cb (2) where - is the total torque acting on the axis of rotation towards higher . This engine is the torque m - the torque required to overcome friction.

(3) unde Cb -este coeficientul de frecare vscoas where Cb - is the viscous friction coefficient n jurul axei de rotaie pentru unghiul . around of rotation axis for angle. Folosind relaiile (1),(2), (3) prima ecuaie de Using (1),(2), (3) first motion equation of micare a braului pendulului devine: pendulum arm is:
&& cos + 2m l 2 & sin cos + m Ll & 2 sin = C && + m pl 2 && sin2 m p Ll & & (4) ( J b + m p L2 ) p p m b

Similar, pentru a 2-a coordonat generalizat Idem, for second generalized coordinate -unghiul braului avem ecuaia Lagrange: angle of arm has Lagrange equation: d L L = (5) & dt unde -este cuplul total care acioneaz n Where, - is the total torque for acting jurul axei de rotaie a braului n direcia around of rotation axis of arm in direction of &, . creterii unghiului Considerm rising the angle . Consider = C p
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& , unde C este coeficientul de where C p is the viscous friction coefficient = C p p frecare vscoas a pendulului n jurul axei de around of rotation axis for angle. rotaie cu unghiul . So, using (1), (5) we obtain the second

Astfel, folosind relaiile (1),(5), obinem a 2-a motion equation: ecuaie de micare:
&& m Ll & sin m l 2 & sin m gl sin = && cos + m p Ll & & 2 sin cos m p Ll & ( J p + m pl 2 ) p p p 2 & 2 2 & & && cos + ( J + m l ) m l & sin cos m gl sin = C m Ll (6)
p p p p p p

Astfel, din relaiile (4) i (6) se obin ecuaiile So, from (4) and (6) we obtain the motion de micare pentru sistemul pendul invers equation for rotation invers pendulum in up-vertical position rotativ n poziia vertical-Up:
2 && cos + 2m l 2 & sin cos + m Ll & 2 sin = C && + mp l 2 && sin2 mp Ll & & ( J b + mp L ) p p m b (7) 2 & 2 2 &m l & & & & + + = cos ( ) sin cos sin m Ll J m l m gl C p p p p p p 3. LINIARIZAREA SISTEMULUI N 3. SYSTEM LINEARIZATION JURUL UNUI PUNCT STAIONAR DE AROUND A STATIONARY POINT FUNCIONARE,CAZUL PENDUL-UP OPERATION, THE CASE PENDUL_UP

Pornind de la relaiile (7) ce reprezint ecuaiile pentru bra i pentru pendul n poziia vertical-Up, vom liniariza aceste ecuaii n jurul unui punct staionar de funcionare 0 , 0 , caracterizat de urmtoarele relaii:

Starting from the relations(7) what are the equations for the pendulum arm and the vertical_Up position, these equations will be linearized around a steady operating point 0 , 0 ,characterized by the following relations: (8)

(t ) = 0 + (t ) ; (t ) = 0 + (t )

Poziia 0 -este unghiul unde trebuie inut The position 0 -is the angle where the arm braul n plan orizontal i implicit pendulul s should be held horizontally and thus be in fie n echilibru vertical_Up. Astfel 0 = ref balance pendulum vertical_Up. Thus este chiar mrimea de referin pentru sistem. 0 = ref is the reference for the system.
& (t ) = & (t ) &&(t ) = &&(t ) ( t ) = 0 + ( t ) & & && && ( t ) = ( t ) ( t ) = ( t ) ( t ) = 0 + ( t ) = ( t )

(9)

Ecuaiile de stare(7), liniarizate n jurul The state equation(7), linearized around the punctului staionar devin: stationary point is: ha cb db &1 2 fa 0 x1 2 2 x 2 b ea b ea b ea x b ea x &2 1 0 0 0 2 + 0 = (10) fb hb ce de u & 3 x x 3 2 0 b 2 ea & b 2 ea b ea b 2 ea x x 4 0 0 1 0 4 0
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unde:

where: K K K a = ( J b + m p L2 ); b = m p Ll ; c = Cb + t b ; d = t ; e = J p + m p l 2 ; f = C p ; h = m p gl Ra Ra

4. PROIECTAREA STRUCTURII 4. STRUCTURE OF CONTROL SISTEMULUI DE CONTROL PRIN SYSTEM DESIGN WITH METHOD METODA LQR LQR

Implementarea structurii de reglare cu reacie Implementation of the control structure with dup variabilele de stare este prezentat n state feedback is presented in Fig.3. with Fig.3. cu rspunsurile n timp real prezentate real-time responses shown in Fig.4. n Fig.4.

ref = 0
-

u(t)=-kx(t)

(t ) A,B,C,D

(t )

State Feed-back

x1

K1 K2 K3 K4

& (t ) (t ) & (t )

x2

x3

(t

x4

ref = 0

Fig.3.Structura sistemului de reglare cu reacie dup variabilele de stare

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x4 = -poziie bra

ref = treapt dreapta -referin poziie bra

& -vitez bra x3 =

x2 = -poziie pendul

& -vitez pendul x1 =

u-comanda calculat

Fig.4. Rspunsul sistemului real obinut pentru variaia treapt a referinei ref
5. PROIECTAREA STRUCTURII 5. STRUCTURE OF CONTROL SISTEMULUI DE REGLARE PRIN SYSTEM DESIGN WITH DIRECT METODA DIRECT LYAPUNOV LYAPUNOV METHOD

Ideea de baz n liniarizarea Intrare-Ieire este gsirea unei relaii directe ntre mrimea de comand i ieirea sistemului. O metod de a gsi aceast relaie este s derivm succesiv mrimea de ieire pn apare mrimea de comand direct n ecuaie. Procednd n aceast manier vom avea:

The basic ideea in state feedback linearization is finding a direct relationship between control signal and output signal of the system. One way to find this relatioship is successively derive the output signal until control signal appear direct in the equation. Thus we have:

K 1 (b + m p Llcos t u ) det( M ) Ra Se poate observa c intrarea u apare direct It may be noted that the input signal u n ieire la a 2-a derivare a ieirii i astfel appers directly in the output signal for vom liniariza sistemul (7) Intrare-Ieire prin second derivative of otput signal and we reacie, impunnd o comand virtual v de achieved fedback input-output liniarization of the system (7) and impose a form of forma: virtual command: 1 K && = &= v=& y (b + m p Llcos t u ) (11) det( M ) Ra

& ; & && = &= &= y y

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Comanda real aplicat la motorul de The real command applied to the motor acionare va fi de forma: drive will be as: det( M )v b u= (12) Kt m p Ll cos Ra
Structura sistemului este prezentat n Fig.5. v1 v=v1+v2 The system structure is presented in Fig.5. pendul model matematic neliniar

v=v1+v2+v3

comanda neliniar

& &

k4 k4 k4 k4 k3 k3 k0 k1
x3 =

D1 D1 D2 D3

x1 =

& x2 =

x3 =

& x4 =

C1 C2 C3

& x2 =

x3 =

k3

& x4 =

& x4 =
Fig.5.Structura sistemului proiectat prin metoda a doua Lyapunov

Comanda obinut pentru sistemul pendul The command obtained for the system invers rotativ prin proiectare cu metoda a rotary inversed pendulum is: doua Lyapunov este: v = k 0 x3 k1 x4 k 3C1 x2 k 3C 2 x3 k 3C3 x4 k 4 D1 x1 k 4 D2 x2 k 4 D3 x3 k 4 D4 x4

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Fig.6.Rspunsul sistemului real pendul-invers

CONCLUZII CONCLUSIONS

Cerinele de timp real ale acestui proces sunt foarte puternice i acest lucru a necesitat realizarea unei distribuii mai mari a prelucrrii. Implementarea a fost realizat ca o structur de reglare cu reacie dup variabilele de stare, iar proiectarea algoritmului de reglare a fost realizat prin metoda LQR i metoda a doua Lyapunov. Prin realizarea unei comparaii ale celor 2 rspunsuri, metoda direct Lyapunov, fiind o metod bazat pe o funcie energetic, realizeaz stabilizarea pendulului n poziie vertical-Up cu o robustee mai mare n jurul poziiei de echilibru, pe cnd metoda LQR, dei stabilizeaz mai bine pendulul, are un domeniul mic de stabilitate n jurul punct staionar de funcionare.
BIBLIOGRAFIE [1] Astrm K.A., FEEDBACK

Real-time requirements of this process are very strong and this has necessitated the achievement of a greater distribution of processing. The implementation was done as feedback inputoutput linearization and control algorithm designed was done by LQR method and the second Lyapunov method. By a comparison of the two responses, Lyapunov direct method, is a method besed on an energy basis, the stabilization pendulum vertical_Up with a more robust around the equilibrium position, while the LQR method, although better stabilizes pendulum has a small field of stability around the stationary point of operation

REFERENCES [1] Astrm K.A., Murray R.M., Murray R.M., FEEDBACK SYSTEMS-AN SYSTEMS-AN INTRODUCTION FOR SCIENTISTS

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INTRODUCTION FOR SCIENTISTS AND ENGINEERS, 2008, Princeton University Press, ISBN-13: 978-0-691-13576-2, ISBN10: 0-691-13576-2 [2] C.J.A. van Kats, NONLINEAR CONTROL OF A FURUTA ROTARY INVERTED PENDULUM, DCT report nr.2004.69, 2004, TU/e Bachelor Final Project Report [3] Ionete C., Manole E., Surlea D., xPC MULTITASKING CONTROL FOR TWO QUANSER EXPERIMENTS, 9th International Carpathian Control ConferenceICCC2008, Sinaia, Romnia, 25-28 Mai 2008, pag.263-266, ISBN 978-973-746-897-0 [4] Popescu D., Rsvan V., Danciu D., SOME ASPECTS RGARDING THE PIO THEORY, 9th International Carpathian Control Conference-ICCC2008, Sinaia, Romnia, 25-28 Mai 2008, pag.525-530, ISBN 978-973-746-897-0 [5] Rsvan V., Popescu D., Danciu D., NETWORKS AND SYNCHRONIZATION, A XIII-a ediie International symposium on systems theory SINTES 13, 18-20 octombrie 2007, Craiova, pag.164-168, ISBN:978-973-742-839-4

AND ENGINEERS, 2008, Princeton University Press, ISBN-13: 978-0-69113576-2, ISBN-10: 0-691-13576-2 [2] C.J.A. van Kats, NONLINEAR CONTROL OF A FURUTA ROTARY INVERTED PENDULUM, DCT report nr.2004.69, 2004, TU/e Bachelor Final Project Report [3] Ionete C., Manole E., Surlea D., xPC MULTITASKING CONTROL FOR TWO 9th QUANSER EXPERIMENTS, International Carpathian Control Conference- ICCC2008, Sinaia, Romnia, 25-28 Mai 2008, pag.263-266, ISBN 978973-746-897-0 [4] Popescu D., Rsvan V., Danciu D., SOME ASPECTS RGARDING THE PIO THEORY, 9th International Carpathian Control Conference-ICCC2008, Sinaia, Romnia, 25-28 Mai 2008, pag.525-530, ISBN 978-973-746-897-0 [5] Rsvan V., Popescu D., Danciu D., NETWORKS AND SYNCHRONIZATION, A XIII-a ediie International symposium on systems theory SINTES 13, 18-20 octombrie 2007, Craiova, pag.164-168, ISBN:978-973-742-839-4

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