Rotational Pendulum Swing Stabilization

Rotational Pendulum Stabilization in the down position via linear full state feedback.

The plant consists of a vertically-mounted brushed DC motor rigidly coupled to the main arm, which can rotate in the horizontal plane. A freely rotating pendulum is attached through the main arm and is constrained to rotate in a plane normal to the main arm axis. This is an example of an underactuated and highly-nonlinear mechanical system.

An Infineon 167CR microcontroller based development board is used as the digital control platform and a custom four-quadrant switch-mode motor drive was designed to drive the DC motor.

Many thanks to John Coward for the precision machined parts.

Category:

Science & Technology

Tags:

• Rotational
• Pendulum
• Swing
• Stabilization
• Full
• State
• Feedback