Open AccessExperimental and Implementation of Robust Control Via Floating Air Levitation and Balancing Rotary Inverted Pendulum
Author(s) -
Suppachai Howimanporn,
Sasithorn Chookaew,
S. Chaiyaporn
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1733/1/012013
Subject(s) - control theory (sociology) , pid controller , inverted pendulum , levitation , angular displacement , ball (mathematics) , encoder , engineering , robustness (evolution) , nonlinear system , servomotor , control engineering , computer science , mathematics , acoustics , mechanical engineering , physics , temperature control , control (management) , mathematical analysis , biochemistry , chemistry , artificial intelligence , quantum mechanics , gene , magnet , operating system
This paper presents the implementation of robust control by using Programmable Logic Controller (PLC) for studying the behaviour of floating and balancing system. Floating Air Levitation system (FAL) and rotary inverted pendulum system (RIPs) module were designed and developed as the actual plant to investigate the performance of designed controller with the nonlinear systems. The objective of controller for FALs is to keep the height of a ball in the tube as the set point precisely, by adjusting the velocity of air flowing passing through the ball. For RIP, the objective is to stabilize the pendulum in upright position. Both plants can provide either the displacement or angular position by various type of sensors: ultrasonic and encoder. In this work, Proportional, Integral and Derivative (PID) and sliding mode controller (SMC) were implemented in OMRON NX1P PLC by using SYSMAC studio software for monitoring and control. The experimental results showed the comparison of PID and SMC performance. SMC presented a robustness response and low oscillating error depend on controller.