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Appl. Sci. 2017, 7(12), 1272; doi:10.3390/app7121272

Design and Implementation of Model Predictive Control for a Gyroscopic Inverted Pendulum

1
Department of Mechanical and Automation Engineering, Da-Yeh University, Changhua 51519, Taiwan
2
Department of Vehicle Engineering, National Taipei University of Technology, Taipei 10608, Taiwan
*
Author to whom correspondence should be addressed.
Received: 10 October 2017 / Revised: 20 November 2017 / Accepted: 4 December 2017 / Published: 6 December 2017
(This article belongs to the Section Mechanical Engineering)
View Full-Text   |   Download PDF [5960 KB, uploaded 7 December 2017]   |  

Abstract

This study proposes the design of an active stabilizing system (ASAS) for a single-track vehicle. Using the gyroscopic effects of two flywheels, this system can generate control torque to stabilize the vehicle in cases where there is centrifugal force of turning. To control the flywheel gimbals to generate stabilizing torque, a model predictive controller (MPC) is applied to control the system. For the controller design and performance evaluations, a model of a gyroscopic inverted pendulum is developed. Control strategies are proposed to stabilize the vehicle in the cases of straight running, circular motion, and path following. The results of the proposed stratgies when controlling the gyroscopic inverted pendulum showed good performance even with physical limitations of the control torques. In order to evaluate the real-time performance and the feasibility of the MPC, a real-time simulator is employed, which includes two embedded STM32F407 boards. The dynamic system and the control algorithms are respectively embedded into two STM32F407 boards for real-time simulation. Implementations of the MPC in this study demonstrate that the proposed controllers are feasible for real-time applications. View Full-Text
Keywords: model predictive control; real-time implementation; gyroscopic effect; bicycle; inverted pendulum model predictive control; real-time implementation; gyroscopic effect; bicycle; inverted pendulum
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Chu, T.-D.; Chen, C.-K. Design and Implementation of Model Predictive Control for a Gyroscopic Inverted Pendulum. Appl. Sci. 2017, 7, 1272.

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