Transcript Understanding the Mechanisms of Balance Control: An Inverted Pendulum Model (PPT | 1MB)

Understanding the Mechanisms of Balance Control:
An Inverted Pendulum Model
Frances Davis and Nu Ma
Advisor: Dr. Madigan and Brad Davidson
The goal of this project is to balance a two-degree of freedom
pendulum using an x and y motors controlled by a feedback loop.
The feedback loop will operate using Proportional – Integral –
Derivative (PID) Control. Understanding which type of control
contributes most to balancing pendulum will provide insight in to
the type of control the body relies on to balance itself.
Executive Summary:

a,
a  K P t  s K D Ý
t  s K I   t  sdt  N a
Study of postural control is important in understanding the
general mechanisms behind the human balance system, which
in turn is important for preventing falls and assessing orthopaedic
aids (Karlsson 1996). In order to develop better intervention
strategies more must be understood about the mechanism
behind balance. By developing a control system that mimics the
way the human body controls balance, more can be inferred
about the mechanisms behind balance. We will develop a control
system that balances a one-degree of freedom pendulum. Then
move from a one degree of freedom system to a two degree of
freedom system, we will incorporate proportional, integral, and
derivative (P-I-D) control to stabilize the pendulum. In addition to
the experimental control system, a computer model will be used
to compare the actual results to a theoretical solution and
numerically integrate the equation of motion.