Analysis of a Double Pendulum System with Joint Actuation by a Non-Linear Control

2016 ◽  
Vol 849 ◽  
pp. 13-26
Author(s):  
M.C. Pereira ◽  
H.I. Weber
Keyword(s):  
Center Of Mass ◽  
Linear Control ◽  
Control Technique ◽  
Double Pendulum ◽  
Pendulum System ◽  
Variable Position ◽  
Pendulum Swing ◽  
Real Model ◽  
Non Linear

This article presents the study of a double pendulum system with distributed mass carrying an actuator at the joint between the two rods. This actuator can move the outer rod in order to inject or remove energy from the system, which is modeled as a body with variable position of the center of mass. The objective of this work is to develop a control technique that can make the pendulum swing up and rotate itself, similar to many other double pendulum investigations, but in the present case without any actuation on the fixed joint. The system is modeled with Simulink® software, using the parameters of a real model.

Advanced modeling and optimal control of a cart-double pendulum system

2019 ◽  
Author(s):  
◽  
Cecil Jr. Shy
Keyword(s):  
Optimal Control ◽  
Lagrange Equation ◽  
Control Technique ◽  
Tuning Parameter ◽  
Microgravity Environment ◽  
Double Pendulum ◽  
Overhead Crane ◽  
Material Transport ◽  
Pendulum System ◽  
Industry Standards

[ACCESS RESTRICTED TO THE UNIVERSITY OF MISSOURI AT AUTHOR'S REQUEST.] The Overhead Crane has evolved in scope since its inception in the late 1800's. Its early use as a hoist for material transport is now proceeded by new found applications, such as in the Active Response Gravity Offload System (ARGOS) at the NASA Johnson Space Center. ARGOS is an astronaut training facility designed to simulate reduced gravity environments such as Lunar, Martian, or microgravity. By industry standards, it is essentially a repurposed Overhead Crane; in academia it can be conceptualized as a cart-double pendulum system. Anti-sway control of cart-pendulum systems has been heavily researched; however, these methods are not typically designed for space simulation. The goal of this research is to design a controller that provides both energy and error minimization for the cart-pendulum, so that its payload moves as if it were floating freely in a microgravity environment (according to Newton's 1st law). The Euler-Lagrange equation is used to model the system and an optimal control technique called the [alpha]-shift is used to control the system. Most treatments on optimal linear control do not include the [alpha]-shift, but its addition allows one to stabilize the system faster and provides an extra tuning parameter while maintaining the simplicity of the solution. Numerical experiments show that the [alpha]-shift method significantly improves the cart-pendulum's ability to control its payload; especially for payloads in the cart-double-pendulum case.

scholarly journals Non-Linear Control for Variable Resistive Bridge Type Fault Current Limiter in AC-DC Systems

Energies ◽  
2019 ◽  
Vol 12 (4) ◽  
pp. 713 ◽  
Author(s):  
Md Alam ◽  
Mohammad Abido ◽  
Alaa Hussein
Keyword(s):  
Reactive Power ◽  
Effective Resistance ◽  
Linear Control ◽  
Control Technique ◽  
Fault Current ◽  
Fault Current Limiter ◽  
Linear Controller ◽  
Non Linear ◽  
Bridge Type ◽  
Current Limiter

This paper proposes a non-linear control-based variable resistive bridge type fault current limiter (VR-BFCL) as a prospective solution to ease the effect of disturbances on voltage source converter-based high voltage DC (VSC-HVDC) systems. A non-linear controller for VR-BFCL has been developed to insert a variable optimum resistance during the inception of system disturbances in order to limit the fault current. The non-linear controller takes the amount of DC link voltage deviation as its input and provides variable duty to generate a variable effective resistance during faults. The VSC-HVDC system’s real and reactive power controllers have been developed based on a current control loop where direct axis and quadrature axis currents are used to control the active and reactive power, respectively. The efficacy of the proposed non-linear control-based VR-BFCL solution has been proved with balanced as well as unbalanced faults. The results confirm that the oscillations in active power and DC link voltage have been significantly reduced by limiting the fault current through the insertion of an optimum effective resistance with the proposed control technique. The real time digital simulator (RTDS) has been used to implement the proposed approach. The performance of the proposed non-linear control based VR-BFCL is compared with that of traditional fixed duty control.

Performance Analysis of Controller Design for DC-DC Buck Converter Using Linear and Non Linear Technique

2015 ◽  
Vol 719-720 ◽  
pp. 417-425 ◽  
Author(s):  
Husan Ali ◽  
Xian Cheng Zheng ◽  
Shahbaz Khan ◽  
Waseem Abbas ◽  
Dawar Awan
Keyword(s):  
Output Voltage ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Input Voltage ◽  
Buck Converter ◽  
Linear Control ◽  
Control Technique ◽  
Control Techniques ◽  
Non Linear

The switched mode dc-dc converters are some of the most widely used power electronics circuits because of high conversion efficiency and flexible output voltage. Many methods have been developed for the control of dc-dc converters. This paper deals with design of controller for dc-dc buck converter using various control techniques. The first two control techniques are based on classical or linear control methods i.e. PI and PID control, while the other two control technique are based on non linear control method i.e. Sliding Mode Control (SMC) and Sliding Mode Proportional Integral Derivative Control (SMC-PID). The output voltage and the inductor current of the applied control techniques are analyzed and compared in transient and steady state region. Also the robustness of the buck converter system is tested for load changes and input voltage variations. Matlab/Simulink is used for the simulations. The detailed simulation results are presented, which compare the performance of the designed controllers for various cases. The results show that the non linear control for DC/DC Buck converter proves to be more robust than linear control especially when dynamic tests are applied.

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