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Indian Institute of Technology Bombay: Department of Aerospace Engineering Control Systems Laboratory - AE 427
Indian Institute of Technology Bombay: Department of Aerospace Engineering Control Systems Laboratory - AE 427
BOMBAY
INVERTED PENDULUM
GROUP 5
Instructors :
Prof. Arnab Maity
Prof. Shashi Ranjan Kumar
Experiment 6 Inverted Pendulum
Contents
1 Objectives 2
5 Group Contribution 12
AE 427 1 Group 5
Experiment 6 Inverted Pendulum
1 Objectives
1. To measure the hardware gain and inertia of the system
2. To know the effects of proportional, derivative and integral control action on the sys-
tem.
The design features a DC servo motor, high resolution encoder, a low friction sliding
balance rod, and a adjustable balance weights. It is connect with real time controller unit,
servo actuator interfaces, and auxiliary power supplies.
A linearized approximation of the system may be found via the first two terms of the Taylor’s
series expansion about the equilibrium points.This results in:
AE 427 2 Group 5
Experiment 6 Inverted Pendulum
The input to the system is the force applied and the output is the angle turned by the pendu-
lum, denoted by F(s) and θ(s) respectively. Hence the transfer function of the rod-pendulum
system will be of the form,
By the Laplace transform of Equation 2 and assuming zero valued initial condition it is
straightforward to express:
θ(s) m! l0 −S 2 + (g/l0 )
= × 2 (3)
x(s) J0 s − (m1 l0 + m2 lc )(g/l0 )
This when substituted in Equation 1 gives,
θ(s) l0 −s2 + (g/l0 )
= ∗× 4 (4)
F (s) J s − (m1 l0 + m2 lc )(gs2 /J ∗ ) − (m1 g 2 /J ∗ )
Equation 3 relates the motion of the nominally vertical (pendulum) rod to the motion of the
sliding rod and 4 relates the motion of the pendulum to the force acting on the sliding rod
via the drive belt. It is the motion of the pendulum rod(i.e. θ) that is to be controlled in the
experiments that follow. The linearized relation between the applied force and the sliding
rod position follows from the product of 4 with the inverse of 3,
=− × 0e
(5)
F (s) m1 J ∗ s4 − (m1 l0 + m2 lc ) gs∗2 − m1 g 2
J J∗
AE 427 3 Group 5
Experiment 6 Inverted Pendulum
measured with a fully assembled pendulum. Figure 1 shows the parameters which are fixed.
Their nominal values have been measured prior to assembly. lw2 is a signed distance from
the pivot to the cg of the balance mass mw2 . The various distances for the calculation of
lw2 is shown in figure 1. From the definitions given in figure 1, we have:
m1 = ml0 + mw1
m2 = m20 + mw2
t + lt + lb
lw2 = −
2
mw2 lw2 + m20 lc0
lc =
m2
∗
j0e = J + m1 l02 + mw2 lw2
2
2. Position the pendulum rod to the right and the sliding rod to the far right of the limit
travel.
AE 427 4 Group 5
Experiment 6 Inverted Pendulum
3. Select Zero Position from the Utility menu. Now the position of Encoder1 and Encoder2
will be zero in the display.
4. Hold on to the pendulum rod and push the sliding rod from one end until it hits the
opposite end of its travel. Note the count of the Encoder2 on the screen.
5. Calculate the distance traveled by the sliding rod in meters. The ratio of the two is
the value of kx .
6. Move pendulum rod in the anticlockwise direction all the way to left.
7. Record the number of counts on Encoder1. Measure the angle moved by the pendulum
in radians. The ratio of the two values gives ka .
AE 427 5 Group 5
Experiment 6 Inverted Pendulum
AE 427 6 Group 5
Experiment 6 Inverted Pendulum
Also, we get, 2
T
Joe = mlcg g = 0.0432 kg − m2
2π
J ∗ = J0e − m1 l02 = 0.02001 kg − m2
3.2.4 Conclusion
1. Thus, after doing the process of system where we find the parameters of the sys-
tem indirectly by doing measurements, we get the hardware gain of the system as
595836.768 N − counts/m − rad.
AE 427 7 Group 5
Experiment 6 Inverted Pendulum
3. Command → Trajectory → Setup → select Closed loop step, Step size = 1000 counts,
Dwell Time = 1000 ms, Repetition = 1 → OK
7. Plot the data i.e. Encoder-2 Output and the Commanded Position, from plot menu.
4.2 Calculations
To design the controller to the sliding rod, we consider rod assembly as a point mass m∗ .
J∗ 0.0198
m∗2 = 2
= = 0.182 kg
l0 0.332
m1 m∗2
m∗ = = 0.09815 kg
m1 + m∗2
khw = kx ks kf = 47525 × 32 × 0.0013 = 1977.04 N/m
Then, the transfer function of the rod assemble reduces to-
Xc (s) khw
= ∗ 2 (8)
Fc (s) ms
Also, r
kp khw kd khw
ωn = , ζ =
m∗
p
2 m∗ kp khw
AE 427 8 Group 5
Experiment 6 Inverted Pendulum
Under Damped
ζ = 0.2, ωn = 10 Hz = 62.83 rad/s
Critically Damped
ζ = 1, ωn = 10 Hz = 62.83 rad/s
Over Damped
ζ = 2, ωn = 10 Hz = 62.83 rad/s
AE 427 9 Group 5
Experiment 6 Inverted Pendulum
AE 427 10 Group 5
Experiment 6 Inverted Pendulum
4.4 Conclusion
1. In the under-damped case, the position reaches quickly to the command position and
then it oscillates about it as seen in the plot.
AE 427 11 Group 5
Experiment 6 Inverted Pendulum
2. In the critically-damped case, there are no oscillation in accordance with the definition.
The simulink response also matches with the actual response obtained in terms of the
rise and settling time. There is some offset present for the actual case which is not
seen for the simulink response as we have used an approximate transfer function for
modelling, which is neglecting certain effects such as friction.
3. In the over-damped case, the rise time increases,i.e.,it takes comparatively little more
time than the critically damped response case to reach the step further and also, there
are no oscillations.
5 Group Contribution
AE 427 12 Group 5