ME 452 Course Project II

Rotary Inverted Pendulum

(Full Version)

Project Instructor: Xiumin Diao Advisor: Dr. Ou Ma

Department of Mechanical Engineering New Mexico State University July 2006

1. Objectives
Control of an inverted pendulum is one of the most interesting and classical problems for control engineering. The objective of this project is to design a controller which is capable of driving the pendulum from its hanging-down position to upright position and then holding it there. The experiment system, as shown in Fig. 1, consists of a vertical pendulum, a horizontal arm, a gear chain, and a servomotor which drives the pendulum through the gear transmission system. The rotating arm is mounted on the output gear of the gear chain. An encoder is attached to the arm shaft to measure the rotating angle of the arm. At the end of the rotating arm there is a hinge instrumented with an encoder. The pendulum is attached to the hinge.

Fig. 1 Rotary inverted pendulum system

On the project, you are asked to do the following: Derive a nonlinear model of the rotary inverted pendulum system. Derive a linearized model of the same system in the neighborhood of the upright position. Verify the linear and non-linear models to see if they are indeed true models of the physical system over a specific operating range. Design, implement, and simulate a stabilizing controller which maintains the pendulum in the upright position with some robustness for small disturbance to the pendulum. Design and implement a mode controller which activates the stabilizing controller when the pendulum is placed in a small neighborhood of the upright position. Design and implement a destabilizing controller which swings up the pendulum to near upright position, so that the stabilizing controller can be activated to stabilize the pendulum.

2. System requirements
To complete this project, the following hardware and software are required: 1) A Quanser UPM 1503 universal power module 2) A Quanser Q4 data acquisition card 3) A Quanser terminal card 3) A Quanser SRV02-ET servomotor and the geared driving unit 4) A Quanser rotary inverted pendulum

5) A PC 6) Quansers WinCon 5.0 software 7) Matlab/Simulink and control system toolbox All of the above-mentioned hardware and software are provided in the Robotics lab (JH608).

3. Modeling of the inverted pendulum system

The inverted pendulum (mechanical part only) is sketched in Fig. 2, and are employed as the generalized coordinates to describe the inverted pendulum system. The pendulum is displaced with a given while the arm rotates an angle of . In this project, we assume that l where the latter has been used in Project I. We assume the pendulum to be a lump mass at point B which is located at the geometric center of the pendulum. The xyz frame is fixed to the arm at point A . For a complete listing of the symbols used in the math formulation, please refer to Appendix A.

Pendulum

&

L y

arm

A z r

&

Fig. 2 Simplified model of the rotary inverted pendulum system

3.1 Using Free Body Diagram method

The Free Body Diagram of the inverted pendulum (mechanical part only) system is shown in Fig. 3. Note that the arm rotates in the horizontal plane (xz plane) only and the pendulum rotates in the vertical plane (xy plane) only, we can draw the forces in these two planes only to simplify the drawing. Referring back to Fig. 2, we notice that the velocity of point B on the pendulum relative to that of point

A on the arm is
& & BA = L cos( ) x & & y BA = L sin( )

(1)

& . Thus, the absolute We also know that the pendulum is also moving with the rotating arm at a rate of r velocity of the point B on the pendulum can be expressed as & L cos( ) & & B = r x (2) & & B = L sin( ) y

Ax

A z
&

x Arm

Pendulum y

&

mg Ox

Beq& Tl

O Oz

Ax

(a) F.B.D. of Arm

Ay (b) F.B.D. of Pendulum

Fig. 3 Free Body Diagram of the rotary inverted pendulum system

Differentiating (2) with respect to time, we will get the acceleration of the point B
&& + L sin( ) & 2 L cos( ) && & &B = r x & 2 L sin( ) && & &B = L cos( ) y

(3)

Applying Newtons 2nd Law to the pendulum in x direction, we obtain

&& + mL sin( ) & 2 mL cos( ) && = Ax &B = Fx mr m& x

(4)

Applying Newtons 2nd Law to the pendulum in y direction, we obtain

& 2 mL sin( ) && = Ay mg &B = Fy mL cos( ) m& y & 2 mL sin( ) && = Ay mg mL cos( )

(5)

Applying Eulers Equation to the rotational motion of the pendulum about point B , we obtain
&& = M B J B 1 && = Ax L cos( ) + Ay L sin( ) m(2 L) 2 12 1 && = Ax L cos( ) + Ay L sin( ) mL2 3

(6)

Applying the Eulers Equation to the rotational motion of the arm about point O , we obtain
&& = M J && = T B & J O O eq l eq Ax r

(7)

Substituting (4) and (5) into (6), we are left

1 2 && + mL sin( ) && = (mr & 2 mL cos( ) &&) L cos( ) mL 3 & 2 mL sin( ) &&) L sin( ) + (mg mL cos( ) 1 && + mL2 sin( ) cos( ) && = (mLr cos( ) & 2 mL2 cos 2 ( ) &&) mL2 3 & 2 mL2 sin 2 ( ) &&) + (mgL sin( ) mL2 sin( ) cos( ) && + 4 mL2 && mgL sin( ) = 0 mLr cos( ) 3

(8)

Substituting (4) into (7), we are left

&& = T B & && &2 && J eq l eq ( mr + mL sin( ) mL cos( ) ) r

2& && = T B & & &2 && J eq l eq ( mr + mLr sin( ) mLr cos( ) )

(9)

&& mLr cos( ) & && + mLr sin( ) & 2 = Tl Beq ( J eq + mr 2 )

Combining (8) and (9), we obtain the motion of equation of the system && mLr cos( ) & && + mLr sin( ) & 2 = Tl Beq ( J eq + mr 2 )
&& + 4 mL2 && mgL sin( ) = 0 mLr cos( ) 3

(10)

3.2 Using Lagranian Formulation

The kinetic energy of the mechanical system arising from the rotating arm and pendulum is
T= 1 1 & 2 + 1 m( x &2 &B2 + y & B 2 ) + J B J eq 2 2 2 1 1 & 2 + 1 m[(r & L cos( ) & ) 2 + ( L sin( ) & ) 2 ] + J B &2 = J eq 2 2 2 1 & 2 + 2 mL2 & & 2 mLr cos( ) & = ( J eq + mr 2 ) 2 3

(11)

where J B =

1 1 m(2 L) 2 = mL2 is the moment of inertia of the pendulum about its center of mass. Taking 12 3

the horizontal plane where the arm lies as the datum plane, the only potential energy in the mechanical system is gravity, i.e.,
V = mgL cos( )

(12)

Since we have two generalized coordinates, and , we therefore have two equations according to Lagrangian Formulation
d T T V & + = Tl Beq ( ) & dt d T T V + ( ) =0 & dt

(13)

Substituting (11) and (12) into (13), we obtain the motion of equation of the system (10) as expected. From Project I, we have known that the output torque of the driving unit on the load shaft is

&& ) Tl = g K g (Tm J m m &&) = g K g ( m K t I m J m K g = m g K t K g = & Vm K m K g Rm Vm

2 && g K g J m

(14)

m g K t K g
Rm

2 Km & m g K t K g 2 && g K g J m

Rm

Substituting (14) into (10), we obtain the nonlinear model of the system as follows:
&& b cos( ) & = fV && + b sin( ) & 2 + e a m && + c && d sin( ) = 0 b cos( )

(15)

where

2 a = J eq + mr 2 + g K g Jm

b = mLr c= 4 2 mL 3 d = mgL

(16)
2 g

e = Beq + f =

m g K t K K m
Rm

m g K t K g
Rm

& 0 , we get the linearized model as follows: Linearizing (15) under the assumption that 0 and & & & && + e = fVm a b (17) & & && d = 0 b + c && , we obtain the solution from the nonlinear model below: && and Solving (15) for the two accelerations & + fV b cos( ) & 2 e b sin( ) 1 m && = 2 2 ac b cos ( ) d sin( ) c
= && = = 1 & + cfV ) & 2 + bd sin( ) cos( ) ce (bc sin( ) m ac b cos2 ( ) & + fV & 2 e a b sin( ) 1
2 m

(18)

ac b 2 cos2 ( ) b cos( )

d sin( )

1 & + bf cos( )V ) & 2 be cos( ) (ad sin( ) b 2 sin( ) cos( ) m ac b 2 cos2 ( ) && , we find the solution from the linearized model as follows: && and Solving (17) for the two accelerations

&& =

& + fV e 1 m 2 ac b d

b 1 & + cfV ) (bd ce = m ac b 2 c

& + fV a e 1 1 m & + bfV ) && = = (ad be m 2 ac b b ac b 2 d

(19)

To obtain the transfer function of the linearized system equations (17) analytically, we need to take the Laplace transformation of it, namely,
a( s) s 2 b(s) s 2 + e(s )s = fVm ( s) b( s)s 2 + c( s)s 2 d(s) = 0

(20)

In the above the initial conditions have been assumed zero. The transfer function relates the variation from the desired position of the pendulum to the input voltage of the motor. Since we are interested in the angle , we want to eliminate ( s ) from (20)
bfs 2 ( s) = Vm (s) (ac b 2 )s 4 + ces 3 ads 2 des

(21)

From the above transfer function, it can be seen that there is a pole and a zero at the origin. They can be canceled from each other and the resulting transfer function becomes
( s ) bfs = Vm ( s) (ac b 2 ) s 3 + ces 2 ads de

(22)

This is our final model of the inverted pendulum system for designing the controller. Note that this transfer function represents the linearized model only.

4. Verification of the mathematical model

4.1 Verification of the linear model against the nonlinear model
In order to get some sense about how well the linearized model represents the original nonlinear system, we are going to simulate the dynamics of the system using both the linear and non-linear models and then compare their simulation outputs. The simulation will not only verify the linear model, but also establish a threshold for us to know the threshold (on ) of the linear model. The main Simulink diagram of comparing the linear model with the nonlinear model is shown in Fig. 4. The nonlinear and linear models are shown in Figs. 5 and 6, respectively. is given an initial condition ( 0.00001 (rad ) ) and thus the pendulum is allowed to fall. As one can see from the simulation results shown in Fig. 7, the linear model correctly depicts the motion of the pendulum for the first 1.4 seconds and then begin to break down. Zooming in the plots around 1.4 seconds, we saw that the linear model quite accurately described the system for the first 15 degrees and then began to diverge from the actual motion.

Fig. 4 Main diagram of verifying the linear model

Fig. 5 Diagram of the nonlinear model

Fig. 6 Diagram of the linear model

60 40 Linear Nonlinear

(deg)

20 0 -20

0.2

0.4

0.6

0.8 1 Time (s)

1.2

1.4

1.6

1.8

250 200 Linear Nonlinear

(deg)

150 100 50 0 0 0.2 0.4 0.6 0.8 1 Time (s) 1.2 1.4 1.6 1.8

Fig. 7 Overlapped plots of the simulation outputs from the linear and nonlinear models

4.2 Verification of both linear and nonlinear models against hardware

In order to get some sense about how well the dynamics models represent the real hardware system, we are going to compare the outputs of both the linear model and the nonlinear model with hardware data. To simplify the verification, we do the experiment near the hanging-down position. Replacing with

+ in (18), we obtain the nonlinear model of the pendulum system at the hanging-down position:
&& = 1 & + cfV ) & 2 + bd sin( ) cos( ) ce (bc sin( ) m ac b 2 cos2 ( ) 1 & bf cos( )V ) && = & 2 + be cos( ) (ad sin( ) b 2 sin( ) cos( ) m ac b 2 cos2 ( )

(23)

& 0 , we get the corresponding linearized model Linearizing (23) under the assumption that 0 and

&& =

1 & + cfV ) (bd ce m ac b 2 1 & bfV ) && = (ad + be m ac b 2

(24)

The main Simulink diagram of comparing both the linear and nonlinear models with the data measured from the physical system is shown in Fig. 8. The interface to the inverted pendulum system is shown in Fig. 9. The linear model and the nonlinear model, as shown in Figs. 10 and 11, are created according to (23) and (24) respectively.

Fig. 8 Main diagram of verifying both the linear model and the nonlinear model

Fig. 9 Interface to the inverted pendulum system

Fig. 10 Liner model of the inverted pendulum system

Fig. 11 Nonliner model of the inverted pendulum system

In the experiment, a ramp signal with a slope of 2, as shown in Fig. 12, is used as the input voltage of the system. From the plots of and , as shown in Fig. 13, we can see that the responses of the models are similar to these of the physical system. They have almost the same shape. The responses of the physical system have some delay due to the friction in the physical system as explained in project I.

10

2.5 2 Input Voltage (V) 1.5 1 0.5 0

0.2

0.4

0.6 Time (s)

0.8

1.2

Fig. 12 Input voltage of the experiment

80 Linear model Nonlinear model Physical system

60

(deg)

40

20

0.1

0.2

0.3

0.4 0.5 Time (s)

0.6

0.7

0.8

0.9

0 Linear model Nonlinear model Physical system

-2

(deg)

-4

-6

-8

0.1

0.2

0.3

0.4 0.5 Time (s)

0.6

0.7

0.8

0.9

Fig. 13 Plots of the verifying both the linear model and the nonlinear model with the physical system

5. Destabilizing controller
The controller of the whole system consists of three parts: destabilizing controller, stabilizing controller, and mode controller. The destabilizing controller, as the name implies, oscillates the arm until it has built up enough energy to break the initial stable (hanging-down) state and get the pendulum into an almost upright but unstable state. Then the stabilizing controller is turned on to stabilize the pendulum in its

11

upright sate. The mode controller determines when to switch between the destabilizing controller and stabilizing controller. We will discuss the design and implementation of the destabilizing controller in this section. The mode controller and the stabilizing controller will be discussed in the next two sections. Destabilizing controller will essentially drive the position of the arm in order to get away from the stable hanging-down position of the pendulum. It simply makes sense that, by moving the arm back and forth strongly enough, it can eventually swing up the pendulum. Hence, the first thing we need to do is to design a position controller which can swing the arm to achieve the destabilizing goal.

5.1 Position controller

5.1.1 Design of the position controller The pendulum in the system has a length of 2 L = 0.335 (m) and its center of mass is located at its geometric center. Thus the natural frequency for small oscillations of the pendulum is given by

p =

mgL = IA

3g = 6.628 (rad/s ) 4L

(25)

where I A is the mass moment of inertia of the pendulum about point A . We want the arm to react to these movements. Therefore the closed-loop response of the arm should be considerably faster than the natural frequency of the pendulum. It would then be reasonable to design a closed-loop controller for the arm position which has the following specifications

n = 4 p , %OS = 2% or n = 26.512 (rad/s), = 0.780

where %OS is the maximum overshoot of the response for a step input. For the arm to track the desired position, we design a PD control law

(26)

& Vm = K p ( d ) K v

(27)

This is a position control loop that controls the voltage applied to the motor so that tracks d with zero desired velocity. Now we need to determine K p and K v according the above defined specifications (26). The closed-loop transfer function of the input and output is

g m K g K t K p = 2 d J eq R m s 2 + ( Beq R m + g m K m K t K g + g m K g K t K v ) s + g m K g K t K p

(28)

Comparing it with the standard transfer function of a second order system (see Section 5-3 of the textbook) we have
2 + g m K g K t K v Beq Rm + g m K m K t K g

J eq Rm

= 2 n
(29)

g m K g K t K p
J eq Rm
Solving (29), we obtain

2 n

12

Kv =

2 2 n J eq Rm Beq Rm g m K m K t K g

g m K g K t

= 0.585
(30)

2 n J eq Rm Kp = = 19.612 g m K g K t

With these values of the control grains, we expect the arm tracks the desired position and velocity with the required specifications.
5.1.2 Simulation of the position controller

The main Simulink diagram of the simulation of the position controller is shown in Fig. 14 and the Simulink diagram of the servomotor and gear transmission system is shown in Fig. 15. Given the required specifications n = 26.512 (rad/s), %OS = 2% , the step response of the closed-loop system is shown in Fig. 17. We can see that the response has a maximum overshoot of 2% and the first peak at 0.189 second. So the position controller meets the required specifications.

Fig. 14 Main diagram for simulation of the position controller

Fig. 15 Model of the servomotor and gear transmission system

8 6 Control signal (V) 4 2 0 -2

0.1

0.2

0.3

0.4

0.5 Time (s)

0.6

0.7

0.8

0.9

Fig. 16 Control signal of the system

13

25 Load shaft position (deg) 20 15 10 5 0 System reponse Input command

0.1

0.2

0.3

0.4

0.5 Time (s)

0.6

0.7

0.8

0.9

Fig. 17 System response due to a step input

5.1.3 Implementation of the position controller

The main Simulink diagram of the implementation of the position controller is shown in Fig. 18 and the interface to the servomotor and gear transmission system is shown in Fig. 19. The model of the servomotor and gear transmission system is shown in Fig. 15. An example step response of the system is shown in Fig. 21. In this example, the desired angular position of the arm is set to 20 degrees.

Fig. 18 Main diagram for implementation of the position controller

Fig. 19 Interface to the servomotor and gear transmission system

14

8 6 Control signal (V) 4 2 0 -2 Simulated control signal Measured control signal

0.5

1.5

2.5 Time (s)

3.5

4.5

Fig. 20 Simulated and real control signals for the position control experiment

25 Load shaft position (deg) 20 15 10 5 0 Input command Simulated position Measured position 0 0.5 1 1.5 2 2.5 Time (s) 3 3.5 4 4.5 5

Fig. 21 Simulated and real dynamic responses of the system to a step input

5.2 Destabilizing controller

Many schemes can be devised to gradually swing up the pendulum. In this project we will design a positive feedback controller to destabilize the pendulum and eventually swing up it. Notice that we have a useful application of positive feedback here. Assume the arm position can be commanded via d . Then the feedback
& d = P + D

(31)

can be made to destabilize the system with the proper choice of the gains P and D . This means that we want to command the arm based on the position and velocity of the pendulum. Moreover, by limiting d , we can ensure that the arm does not reach a position that will cause a collision with the nearby hardware (e.g., the table). The gains P and D are crucial in bring up the pendulum smoothly. Based on the experiment, we choose P = 0.5 (deg/deg) and D = 0.00001 deg/(deg/s) . One can tune the value of D to adjust the damping in the system. The main Simulink diagram of the destabilizing controller using positive feedback is shown in Fig. 22. The diagram of the rotary inverted pendulum is shown in Fig. 23. From the plot of alpha in Fig. 24, we can see that the pendulum is brought up (the curve passing through the = 0 line) in about 1.25 seconds.

15

Fig. 22 Main diagram of the Destabilizing controller using positive feedback

Fig. 23 Interface to the rotary inverted pendulum system

200

100

(deg)

-100

-200

0.5

1 Time (s)

1.5

2.5

Fig. 24 Plot of alpha during the pendulum swing-up motion under the destabilizing control

30 20 10

(deg)

0 -10 -20 -30 0 0.5 1 Time (s)

Fig. 25 Plot of theta during the pendulum swing-up motion under the destabilizing control

1.5

2.5

16

6. Mode controller
The purpose of the mode controller is to track the pendulum angle and facilitate switching between the destabilizing controller and stabilizing controller. This controller is to be enabled when is in the neighborhood of zero, within the threshold of (currently set to 10 degrees). The Simulink diagram of the simulation of the mode controller is shown in Fig. 26. From the simulation results shown in Fig. 27 we can see that the mode controller works very well. It output 1 when

10 degrees and 0 when > 10 degrees .

Fig. 26 Simulink diagram of the mode controller

15 10 5 0 -5 -10 -15 0 0.5 1 1.5 2 2.5 Time (s) 3 3.5 4 4.5 5 Mode signal Input signal

Fig. 27 Plots of the input signal and the mode signal

7. Stabilizing controller by feeding back both and

If we can feed back both and angles, we can calculate the control signal using both of them. Assuming the pendulum is almost upright, two PD controllers can be implemented to maintain it at the upright position (capable of rejecting disturbances up to a certain extent). The PD controller for is (32)

& theta _ u = theta _ K p ( d ) + theta _ K d

where d is the desired position of the rotating arm after balancing. The PD controller for is & alpha _ u = alpha _ K p ( d ) + alpha _ K d where d 0 . The control signal (i.e., the input voltage of the motor) is then given by

(33)

u = alpha _ u theta _ u
Based on the experiment, we choose

(34)

17

theta _ K p = 2.2; theta _ K d = 2.0; alpha _ K p = 21.1; alpha _ K d = 2.9 One can adjust these four parameters to obtain a better stabilizing controller.

(35)

To simulate the stabilizing controller, the Simulink diagram shown in Fig. 28 is created. The rotary inverted pendulum model is shown in Fig. 6. An impulse disturbance with amplitude of 5 degrees and period of 5 seconds is added to the measured alpha in Fig. 29. We can see that the stabilizing controller is good enough to maintain the pendulum in the upright position and keep it there stably. The same impulse disturbance is added to the measured theta in Fig. 30. The stabilizing controller can also maintain the pendulum in the upright position and keep it stable.

Fig. 28 Diagram of the simulation of the stabilizing controller

18

50 Control signal (V) 0 -50 -100

10

12

14

16

18

20

40 20

(deg)

0 -20 -40 0 2 4 6 8 10 12 14 16 18 20

10 0

(deg)

-10 -20 -30 0 2 4 6 8 10 Time (s) 12 14 16 18 20

Fig. 29 Plots of control signal, theta, and alpha when alpha has an impulse disturbance
20 Control signal (V) 0 -20 -40 -60 0 2 4 6 8 10 Time (s) 12 14 16 18 20

50

(deg)

-50

10 Time (s)

12

14

16

18

20

10 0

(deg)

-10 -20 -30 0 2 4 6 8 10 Time (s) 12 14 16 18 20

Fig. 30 Plots of control signal, theta, and alpha when theta has an impulse disturbance

19

8. Implementation of the whole system by feeding back both

and

The main Simulink diagram of the implementation of the rotary inverted pendulum system is shown in Fig. 31. The diagrams of the three sub-controllers, namely, the destabilizing controller, the mode controller and the stabilizing controller are shown in Figs. 32-34, respectively. The implementation of the sevomotor and gear transmission system is shown in Fig. 23. From the experiment, we can see that the pendulum is destabilized in the hanging-down position, brought upright and maintained in the inverted position. Note that the pendulum has some small oscillations (see Fig. 35) in the inverted position due to the errors in the mathematical model and the controller, the friction in the hardware, the vibration of the experiment table, etc.

Fig. 31 Main diagram of the rotary inverted pendulum system

Fig. 32 Diagram of the destabilizing controller

Fig. 33 Diagram of the mode controller

20

Fig. 34 Diagram of the stabilizing controller

1

0.5

(deg)

-0.5

-1

5 Time (s)

10

Fig. 35 Plot of the alpha angle after balancing in the upright position

4 2

(deg)

0 -2 -4 -6

5 Time (s)

10

Fig. 36 Plot of the theta angle after balancing in the upright position

9. Stabilizing controller by feeding back

only

The rotary inverted pendulum system has two degrees of freedom. In general, we cannot maintain the pendulum in the upright position if we feed back only. Using the SISO Design Tool in the Control System Toolbox, we can design a stabilizing (PID) controller for the system described by the transfer function in (22). As shown in Fig. 37, the controller can be
C (s) = 2 ( s + 20)(s + 10) s 2 + 30s + 200 = 2 s s

(36)

Comparing to the standard PID controller

21

C (s) = K c

Kd s2 + K p s + Ki s

(37)

we get
K c = 2, K p = 30, K i = 200, K d = 1

(38)

To simulate the stabilizing controller by feeding back only, the main Simulink diagram shown in Fig. 38 was created. The rotary inverted pendulum model is shown in Fig. 6. From the simulation results shown in Figs. 39 and 40, we can see that the pendulum can reject a pulse disturbance, but the rotating arm will rotate crazily if we feed back only.

Fig. 37 Design of the PID controller using SISO Design Tool

22

Fig. 38 Simulink diagram for simulating the stabilizing controller

(deg)
-5 Feedback only Feedback and -10 0 1 2 3 4 5 Time (s) 6 7 8 9 10

Fig. 39 Plot of alpha when there is a pulse disturbance in alpha

200 Feedback only 150 Feedback and

(deg)

100 50 0 -50

5 Time (s)

10

Fig. 40 Plot of theta when there is a pulse disturbance in alpha

23

Appendix A: Nomenclature of the System

Symbol Description X component of the action force exerted on the pendulum at point A by the arm Y component of the action force exerted on the pendulum at point A by the arm Pendulum position Pendulum velocity Pendulum acceleration Equivalent viscous damping coefficient Gravity acceleration Current in the armature circuit Moment of inertia of the pendulum about its center of mass Moment of inertia of the arm and pendulum about the axis of Moment of inertia of the arm and pendulum about the axis of l Moment of inertia of the rotor of the motor SRV02 system gear ratio (motor -> load) Back-emf constant Motor-torque constant Half length of the pendlum Armature inductance Mass of pendulum X component of the action force exerted on the arm at point MATLAB Variable ----------Beq g ----Jeq --Jm Kg Km Kt L --m ----r Rm --------------Nominal Value (SI Units) ----------0.004 9.81 ----0.0035842 --3.87e-7 70 ( 14 5 ) 0.00767 0.00767 0.1675 --0.125 ----0.215 2.6 ---------------

Ax

Ay

& &&

Beq
g Im JB

J eq

Jl Jm
Kg
Km Kt

L Lm
m

Ox Oz
r Rm Tl Tm

O by the base of the motor

Z component of the action force exerted on the arm at point

O by the base of the motor

Rotating arm length Armature resistance Torque applied to the load Torque generated by the motor Load shaft position Load shaft velocity Load shaft acceleration Angular position of the arm Load shaft velocity

&
&& l

& l

24

&& l

Load shaft acceleration Motor shaft position Motor shaft velocity Motor shaft acceleration Motor back-emf voltage Input voltage of the armature circuit X component of the velocity of point B on the pendulum relative to point A on the arm Y component of the velocity of point B on the pendulum relative to point A on the arm Velocity of pendulum center of mass in X direction Velocity of pendulum center of mass in Y direction Acceleration of pendulum center of mass in X direction Acceleration of pendulum center of mass in Y direction Gearbox efficiency Motor efficiency

------------------------Eff_G Eff_M

------------------------0.9 0.69

m
& m && m
V emf
Vm
& BA x & BA y &B x &B y

& &B x & &B y

25