Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on Friction Measurement of an Inverted Pendulum System using the Regression Analysis

회귀분석을 통한 역진자 시스템의 마찰력 측정에 관한 연구

  • Park, Kyung-Yun (Department of Electrical and Computer Engineering, Ajou University) ;
  • Park, Duck-Gee (Department of Electrical and Computer Engineering, Ajou University) ;
  • Chwa, Dong-Kyoung (Department of Electrical and Computer Engineering, Ajou University) ;
  • Hong, Suk-Kyo (Department of Electrical and Computer Engineering, Ajou University)
  • 박경윤 (아주대학교 전자공학과) ;
  • 박덕기 (아주대학교 전자공학과) ;
  • 좌동경 (아주대학교 전자공학과) ;
  • 홍석교 (아주대학교 전자공학과)
  • Published : 2006.07.12
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Abstract

This paper deals with the problem of friction measurement of an inverted pendulum system using the regression analysis and proposes a solution. The approach taken in this study is getting the friction from a regression relational expression between the motor voltage and the cart velocity of an inverted pendulum system. The result to compensate LQR (linear Quadratic Regulator) controller with the friction which is measured in system, improved the performance of the system. Above all, the study has found that the proposed compensation of the friction reduces the oscillation of the cart position. In conclusion, the proposed method is useful when parameters in the given system model are not known.

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