Modeling and control of mechatronic aeropendulum

摘要

Modeling and controller design for an aeropendulum system is important because it enables to control the pendulum action by controlling the voltage given such as the stability, dead time, rise time, overshoot etc. This concept of pendulum system is very useful and can be applied in day to day life. There are different kinds of applications of pendulum systems such as measurement applications, Schuler tuning methods, coupled pendulum applications, entertainment purposes, etc. By equation of motion, the open loop transfer function can be obtained and simulation is done accordingly. Aeropendulum is a suspended pendulum, which has a propeller at the end of the stick which is motorized, It can be controlled by controlling the voltage given to dc electric motor. Designing of Proportional Integral Derivative (PID), Linear Quadratic Regulator (LQR), PID based LQR controllers are used for nonlinear pendulum dynamic system in this project. The promising performance of the proposed controllers investigates in simulation. The effectiveness and the comparisons of the controller methods for Nonlinear Aeropendulum Dynamical System are delivered in this project.