Cad design and control of triple inverted-pendulums system
Other Title(s)
السيطرة و التصميم المعان للبندول الثلاثي المعكوس
Author
Source
The Iraqi Journal for Mechanical and Materials Engineering
Issue
Vol. 18, Issue 3 (30 Sep. 2018), pp.481-497, 17 p.
Publisher
University of Babylon College of Engineering
Publication Date
2018-09-30
Country of Publication
Iraq
No. of Pages
17
Main Subjects
Abstract EN
This work is aimed to study the dynamic behavior and control of the triple inverted-pendulum system.
A nonlinear dynamic model of the inverted-pendulums fixed on a cart, based on CAD model is developed.
The Lagrange equation is used to obtain the nonlinear dynamic models of the system.
The dynamic model is then linearized around operating point.
An augmented dynamic model using the linearized model is also derived.
Two control approaches are used to stabilize the pendulums in vertical position.
First approach: State Feedback Control based on the linearized model is used to generate the input force control to stabilize the system.
Second approach: Model Predictive Control is designed based on augmented dynamic Model to control the motion of the system.
In order to verify the developed model and the chosen controller gains several simulations for different carts’ paths are carried out.
Several 3D animations are also presented to verify the usefulness of the designed CAD model and the controllers.
As a future work: the 3D model of the triple inverted-pendulum system gives a valuable resource for virtual reality work.
Beside, another advanced control approach can be applied on the derived dynamic model.
American Psychological Association (APA)
Husayn, Mustafa Turki. 2018. Cad design and control of triple inverted-pendulums system. The Iraqi Journal for Mechanical and Materials Engineering،Vol. 18, no. 3, pp.481-497.
https://search.emarefa.net/detail/BIM-832454
Modern Language Association (MLA)
Husayn, Mustafa Turki. Cad design and control of triple inverted-pendulums system. The Iraqi Journal for Mechanical and Materials Engineering Vol. 18, no. 3 (Sep. 2018), pp.481-497.
https://search.emarefa.net/detail/BIM-832454
American Medical Association (AMA)
Husayn, Mustafa Turki. Cad design and control of triple inverted-pendulums system. The Iraqi Journal for Mechanical and Materials Engineering. 2018. Vol. 18, no. 3, pp.481-497.
https://search.emarefa.net/detail/BIM-832454
Data Type
Journal Articles
Language
English
Notes
Includes Appendix : p. 497
Record ID
BIM-832454