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2019 | OriginalPaper | Chapter

Inverted Pendulum on a Cart Pneumatically Actuated by Means of Digital Valves

Authors : F. Colombo, L. Mazza, G. Pepe, T. Raparelli, A. Trivella

Published in: Advances in Service and Industrial Robotics

Publisher: Springer International Publishing

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Abstract

This paper deals with an inverted pendulum mounted on a sliding cart pneumatically actuated. Low cost digital pneumatic valves driven by PWM technique are used. The control system uses three nested PID regulators: the inner one controls the force imposed by the pneumatic actuator and the other two control the inclination of the pendulum and the position of the cart. The numerical model of the mechanical and pneumatic system is here shown, with also some first results.

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Title: Inverted Pendulum on a Cart Pneumatically Actuated by Means of Digital Valves
Authors: F. Colombo
L. Mazza
G. Pepe
T. Raparelli
A. Trivella
Publisher: Springer International Publishing
Book: Advances in Service and Industrial Robotics
Print ISBN: 978-3-030-00231-2

Electronic ISBN: 978-3-030-00232-9

Copyright Year: 2019
DOI: https://doi.org/10.1007/978-3-030-00232-9_46