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QUASI EQUILIBRIUM
STATE PENDULUM
CERTIFICATE
This is to certify that the project entitled “Quasi Equilibrium State Pendulum” is a bonafide
work carried out by the students mentioned below, for 1EE370 Mini Project as a partial
fulfilment of course in Electrical Engineering under my supervision and guidance.
Submitted By
(Internal Examiner)
Acknowledgement
[1]
Dept. of Electrical Engineering
Walchand College of Engineering, Sangli
Maharashtra.
Index
1 Abstract 6
2 Introduction 7
Abstract
A mechanical pendulum can be modelled in a 2nd order system with Force being
input and φ, the output. However, this conventional pendulum has only one
equilibrium state, i.e. at (0, 0). An inverted pendulum can be designed and
controlled to have an equilibrium position at 180’. However, the pendulum is
unstable for remaining values of φ. This project can be used to make a pseudo
equilibrium position at any desired angle in a range of 0 and 180 deg. The setup
consists of a small dc electrical motor attached to one of the end of a light rod. The
motor drives a 6-in propeller and allows the rod to swing. Angular position is
measured by a potentiometer attached to the pivot point. The mathematical model
can be estimated using the systems identification toolbox in MATLAB. An
Arduino R3 produces the controlled voltage input to the motor. The board
communicates to Scilab-Xcos via USB interface through the serial port. Important
variable controlled in the project is the thrust of the propeller via speed control of
DC motor by changing the PWM input.
Introduction
1. Bang-bang control:
A bang-bang controller (on-off controller), also known as a hysteresis controller, is a
feedback controller that switches abruptly between two states. These controllers may be
realized in terms of any element that provide hysteresis. They are often used to control plant
that accepts binary input. But because of discontinuity between two states, they can
sometimes lead to the undesired Zeno effect (also known as the turning paradox), which has
to be taken care of using, for instance, sliding mode control.
2. PID control:
The Authors decided to use this controller because of its simplicity in modelling.
4. Adaptive control
Where;
Tss = the thrust which is provided by DC motor
L= length of pendulum
m= weight of pendulum
d= the distance from suspending point to centre of mass
J= inertia moment
g= acceleration of gravity
c= viscous damping coefficient
The rational equation between voltages V which applied to
DC motor and thrust T, can be written as follows:
Let’s the pendulum get the stability. Then, one can obtain:
Where Theta is the angle at the stable situation. Thus, substituting leads to
Finally from Eq. (1) and Eq. (2) the open-loop block diagram of the pendulum system can be
obtained as follows:
Now, from above figure the transfer function of the suspended pendulum can be written as
follows:
Schematic
Xcos Model
Why Scilab-Xcos?
Scilab also includes a free package called Xcos (based on Scicos) for modelling and
simulation of explicit and implicit dynamical systems, including both continuous and
discrete sub-systems. Xcos is the open source equivalent to Simulink from the MathWorks.
As the syntax of Scilab is similar to MATLAB, Scilab includes a source code translator for
assisting the conversion of code from MATLAB to Scilab. Scilab is available free of cost
under an open source license. Due to the open source nature of the software, some user
contributions have been integrated into the main program.
Due to its open source licence, we decided to implement the project on Xcos, and
exploit this opportunity to learn the new software. Here is one comparison between two
leading simulators:
3. After Perturbation, there was steady state error but oscillations of constant
magnitude.
P = 0.295
PID Type Kp TI Td
P 0.5Ku Inf 0
PI 0.45Ku 0.833Tu 0
PID 0.6 Ku 0.5Tu 0.125Tu
Future Scope
PID is very primitive type of controller which is very easy to understand and implement.
Further improvements that can be done are as follows:
1. Increasing the range of Angle control angle, up to 50 degrees.
2. Implementing Intelligent & Advanced controllers like Adaptive Control.
APPENDIX - I
Components List
Resistor .25 W CC 10 K
Rod
Conclusion
The project described is a low cost and low maintenance platform suitable for lab
courses in dynamics and control systems. Many interesting experiments, for reinforcing
classroom concepts, can be developed. The platform can also be easily modified to
investigate complex and higher order systems.
As stated in the introduction PID control is not so robust and fails to give precise
results, having precision about 70%. The steady state error can be reduced by applying a
correct Proportional gain Kp, while the transient response can be bettered using Derivative
gain Kd.
Applications of this project as a model for feedback control, varying from Vehicle
dynamics to Robotics.
References