Fuzzy Control Inverted Pendulum

Fuzzy Control: Inverted Pendulum The unstable "inverted pendulum" system acts as a mechanical single-variable system. The upright position of the pendulum is adjusted by two independent propeller drives and is achieved quickly and if possible without overshooting. A fuzzy control will be developed and optimised for this purpose. The inclination of the pendulum is measured by a potentiometer. The sensor supplies a crisp signal to the fuzzy controller, where the signal is transformed into a fuzzy input value and inferenced before being transformed back into a crisp output value. This output value controls the actuators, two propeller drives. Design and optimise fuzzy control systems using microcontroller technology Inverted pendulum as mechanical single-variable system, simo (single input - multiple outputs) 2 independent motors for propeller drive as actuators microcontroller with USB port as fuzzy controller FSH-Shell development software for designing and optimising the fuzzy controller; software via USB under Windows 7, 8.1, 10 including PC1 Computer-System with 21" TFT-Monitor Win 10 engl. Rotary potentiometer as pendulum inclination sensor Part of the structured learning concept: level 2a Technical Data: Inverted pendulum Length: 780mm Counterweight: 1,89kg 2 drive motors 7,2V / 23A Microcontroller 8bit microcontroller Zilog Z8Encore 12-fold ADC 8bit Rotary potentiometer Resistance value 5k Ohm ±20% 230V, 50Hz, 1 phase

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