CONTROL SYSTEMS ENGINEERING

MEX 4243
LAB REPORT

EXPERIMENT 02
DIGITAL PENDULUM

NAME : T.G.S.P.Thambavita
REG.NO : 60864505
GROUP : CLE 04
CENTRE : Colombo
DUE DATE : 03/09/2010
AIM : Digital Pendulum model testing by using Simulink

APPARATUS : * Mechanical unit

The Pendulum setup consists of a cart moving along the 1 m length

track. The cart has a shaft to which two pendulums are attached and are able
to rotate freely. The cart can move back and forth causing the pendulums to
swing.

* Control unit

The personal computer

* Electrical unit

DC motor & interface

INTRODUCTION : The pendulum workshop can be divided into two separate control
problems. First is the crane control problem, in which the goal is to move the
cart into a desired position with as little oscillation of the load
(pendulum arms) as possible. The other is to stabilize the inverted pendulums
in an upright position. The crane control problem is very often encountered
in industrial applications where load movement is incorporated. It is especially
difficult to realize when cranes are placed on ships and the effect of waves is
considered.

The inverted pendulum task can be seen as a self-erecting control

problem, which is present in missile launching and control applications.
Furthermore the pendulum application involves a swing-up control aspect if
initially the pendulum hangs freely in the vertical position.

These two control problems (inverted pendulum & crane control)

have one very important difference, which is the stability. The pendulum
serving as a crane is stable without a working controller. Due to the energy
loss through friction and air resistance it will always end up at an equilibrium
point.

The inverted pendulum is inherently unstable. Left without a

stabilizing controller it will not be able to remain in an upright position when
disturbed.
DIGITAL PENDULUM SET

Fig-01: Prospective of a digital pendulum

Fig-02: Front elevation of the pendulum system

PENDULUM SIMULATION MODELS

Fig-03

CRANE STABILIZATION

Fig-04
Random Amplitude & constant Frequency

Amplitude – 0.1, Frequency – 0.3 kHz

Fig - 05

Amplitude – 0.2, Frequency – 0.3 kHz

Fig – 06
Random Frequency & constant Amplitude

Frequency – 0.1 kHz, Amplitude – 0.3

Fig – 07

Frequency – 0.2 kHz, Amplitude – 0.3

Fig – 08
Maximum Amplitude & Maximum Frequency

Amplitude – 0.3, Frequency – 0.3 kHz

Fig – 09
SWING UP CONTROL

Fig – 10

Fig – 11
PENDULUM REALTIME MODELS

MODEL OF CRANE STABILIZATION

Fig – 12

Fig – 13
Random Amplitude & Constant Frequency

Amplitude - 0.1, Frequency – 0.3 kHz

Fig – 14

Amplitude - 0.2, Frequency – 0.3 kHz

Fig – 15
Random Frequency & Constant F Amplitude

Frequency – 0.1 kHz, Amplitude - 0.3

Fig – 16

Frequency – 0.2 kHz, Amplitude - 0.3

Fig – 17
Maximum Frequency & Maximum Amplitude

Frequency – 0.3 kHz, Amplitude – 0.3

Fig – 18
INVERTED PENDULUM IDENTIFICATION

Fig – 19

Fig – 20
DISCUSSION : The pendulum workshop can be divided in to two separate control
problems those are,

* The crane control problem

* The inverted pendulum

PID controllers
A proportional–integral–derivative controller (PID controller) is a
generic control feedback mechanism (controller) widely used in industrial
control systems. A PID controller attempts to correct the error between a
measured process variable and a desired set point by calculating and then
outputting a corrective action that can adjust the process accordingly and
rapidly, to keep the error minimal.

PID controller theory

This section describes the parallel or non-interacting form of the PID
controller. For other forms please see the Section "Alternative notation and
PID forms".

The PID control scheme is named after its three correcting terms, whose sum
constitutes the manipulated variable (MV). Hence:

Where,

Pout, Iout, and Dout are the contributions to the output from the PID controller
from each of the three terms
Pout: Proportional term of output
Iout: Integral term of output
Dout: Derivative term of output

In Pendulum Simulation models, varied the Amplitude randomly &when

Frequency of control voltage at its maximum 0.3 kHz and vice versa.