Angle control of aeropendulum using Labview

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Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

The aim of the project is to develop a closed loop angle control of an aeropendulum using different approaches. The DC motor of the aeropendulum is driven by an H bridge which is controlled by a PWM (Pulse Width Modulation) signal of an Arduino Uno Board, which communicates via serial port with the Graphical User Interface implemented in Labview. Various methods for reading the angle (potentiometer and image processing using Labview Vision Module) are examined and the best choice is selected. The parameters of the mathematical model of the aeropendulum plant are discovered by examining the systems response for various inputs. The system is linearized using deadbeat and gravity compensation, and a second-order transfer function for the system is constructed and built in Control Design and Simulation Module. The simulated system is examined and based on the measurement results it is further refined. After this, various control methods are examined from different publications, and the PID controller is chosen. After researching both closed-loop (Ziegler-Nichols) and open-loop (Cohen-Coon) PID tuning methods, the incompatible ones are eliminated and the PID parameters are set according to the compatible ones. The results are examined, and other, more complicated solutions are given. In the end, a hybrid PD-PI controller is designed which behaves differently if the angle error of the rotating arm is great, and if the arm is close to the desired position. After experimenting with the PID parameters, an acceptable control system is found, and the behavior of the system is examined. Seeing that it fits the requirements of the task (fast response, little overshoot, no steady-state error), the controller is finalized and implemented in the simulation. Comparisons of the simulated and actual responses are made, and the deviations are explained. In the final chapters, an FMEA is given explaining the most frequent failure modes of the system, the causes, and the possible solutions. An easy-to-use, intuitive GUI (Graphical User Interface) is designed for the controller Labview VI. In the end, conclusions are drawn, the results are compared and suggestions are made for the possible modifications of the project. Optional additions and future tasks regarding the project are suggested.


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