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The purpose of this paper is to present the design and program implementation of a general procedure which yields
the mathematical model for a classical or rotary inverted pendulum system with an arbitrary number of pendulum links.
Lagrange equations of the second kind with an integrated Rayleigh dissipation function are employed in model design, and
the energetic balance relations, derived for the base and all pendulum links in a generalized (n-link) classical and rotary
inverted pendulum system, are implemented in form of symbolic MATLAB functions and a MATLAB GUI application.
The validity and accuracy of motion equations generated by the application are demonstrated by evaluating the open-loop
responses of simulation models of classical double and rotary single inverted pendulum.
K e y w o r d s: inverted pendulum systems, automated mathematical modelling, Lagrange mechanics, symbolic MATLAB
functions, classical double inverted pendulum, rotary single inverted pendulum
∗ Department of Cybernetics and Artificial Intelligence, Faculty of Electrical Engineering and Informatics, Technical University of
Košice, Letná 9, 042 00 Košice, Slovakia, slavka.jadlovska@tuke.sk, jan.sarnovsky@tuke.sk
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Journal of ELECTRICAL ENGINEERING 64, NO. 1, 2013 13
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14 S. Jadlovská – J. Sarnovský: MODELLING OF CLASSICAL AND ROTARY INVERTED . . .
Fig. 1. System of n classical inverted pendula - scheme and basic The potential energy of the i -th pendulum is determined
nomenclature
by the height of its CoG above the x-axis
EP 0 (t) = 0 . (8) 1 2
Di (t) = δi θ̇i (t) − θ̇i−1 (t) (16)
2
The kinetic energy and the dissipation function both de-
pend on the cart velocity vx0 (t) = θ̇0 (t)
and
1 2 1
EK0 (t) = m0 vx0 (t) = m0 θ̇02 (t) , (9) 1 2
2 2 Di (t) = δi θ̇ (t) (17)
1 1 2 i
D0 (t) = δ0 vx0 (t) = δ0 θ̇02 (t) .
2
(10)
2 2
for n = 1 (single inverted pendulum system).
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Journal of ELECTRICAL ENGINEERING 64, NO. 1, 2013 15
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16 S. Jadlovská – J. Sarnovský: MODELLING OF CLASSICAL AND ROTARY INVERTED . . .
where M(θ(t)) is the inertia matrix, N(θ(t), θ̇(t)) de- δ2 θ̇2 (t)
0
scribes the influence of centrifugal and Coriolis forces, F (t)
1
− 2 m1 + m2 gl1 sin θ1 (t) = 0 (30)
P(θ(t)) accounts for gravity forces and V(t) is the in-
put vector, equivalent to (6). By comparing the obtained − 21 m2 gl2 sin θ2 (t) 0
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Journal of ELECTRICAL ENGINEERING 64, NO. 1, 2013 17
where m0 is the cart mass, m1 ,m2 are the masses of the Reasonable behavior of the open-loop response of the
lower and upper pendulum respectively, l1 , l2 are the CDIP simulation model (damped oscillatory transient
respective lengths of the pendula, δ0 is the friction coeffi- state, system reaching the stable equilibrium point with
cient of the cart against the rail, δ1 , δ2 are the damping all pendula pointing downward, visible backward impact
constants in the joints of the pendula, J1 = m1 l12 /3 = of the pendula on the base) means that the simulation
JT 1 + m1 (l1 /2)2 , J2 = m2 l22 /3 = JT 2 + m2 (l2 /2)2 are the model based on the generated motion equations can be
moments of inertia of the pendula with respect to their considered accurate enough to serve as a reliable testbed
pivot points and F (t) is the force induced on the cart. system for the verification of linear and nonlinear control
algorithms.
It was discovered that in most cases, the generated
motion equations of the system (30) are identical to 3.2 Case Study – Rotary Single Inverted Pendu-
manually derived equations in referenced works, pro- lum System
vided the latter were derived correctly (compare (30)
to the classical double inverted pendulum model in The rotary single inverted pendulum system is com-
[7, 10, 11]). Apart from the neglected friction, the only posed of a homogenous pendulum rod attached to an arm
significant difference noticed was the plus sign at the which is free to rotate in a horizontal plane [4]. The torque
potential energy terms (eg m2 gl2 sin θ2 (t)/2 instead of M (t) applied on the arm is used to control the two de-
−m2 gl2 sin θ2 (t)/2 ), which corresponds to an initial as- grees of freedom of the system: arm angle θ0 (t) in rad,
and pendulum angle θ1 (t) in rad (see Fig. 5). The system
sumption that the pendulum angle is determined against
was introduced to feedback control community in 1992
the downward position.
by Katsuhisa Furuta, Professor at the Tokyo Institute of
The IPMaC block library contains a library block Technology, and hence it is often referred to as the Furuta
Classical Double Inverted Pendulum (CDIP) which im- pendulum [12].
plements the motion equations (30) derived above. The
open-loop dynamic behavior of the system was verified as
a response of the CDIP block to a force impulse with an z
amplitude of 0.4 N and duration of 1 s, starting with all
pendula in the upright position. The numeric parameters q1
of the simulation were chosen as follows: m0 = 0.3 kg,
m1 = m2 = 0.275 kg, l1 = l2 = 0.5 m, δ0 = 0.3 kgs−1 , m1g l1
δ1 = 0.1 kgm2 s−1 , δ2 = 0.1 kgm2 s−1 . The time behavior J1
of the cart position and the freefall and stabilization of y
both pendula is depicted in Fig. 4. J0
l0 q0
m0g
Cart position (m) M
1.2
x
0.8
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18 S. Jadlovská – J. Sarnovský: MODELLING OF CLASSICAL AND ROTARY INVERTED . . .
10 4 CONCLUSION
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Journal of ELECTRICAL ENGINEERING 64, NO. 1, 2013 19
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