Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas Thrusters
This article describes the control of a rotary inverted pendulum utilizing on–off-type cold gas thrusters as the actuators, which have high similarities with thruster actuated spacecrafts with slosh dynamics. The study is completed in three phases. Firstly, a Pulse Width Modulator (PWM) design metho...
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-09-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/9/4/95 |
| _version_ | 1827705325546897408 |
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| author | Yusuf Silik Ulas Yaman |
| author_facet | Yusuf Silik Ulas Yaman |
| author_sort | Yusuf Silik |
| collection | DOAJ |
| description | This article describes the control of a rotary inverted pendulum utilizing on–off-type cold gas thrusters as the actuators, which have high similarities with thruster actuated spacecrafts with slosh dynamics. The study is completed in three phases. Firstly, a Pulse Width Modulator (PWM) design method is utilized to obtain quasi-linear thrust output from the on–off-type thrusters. Then, a single axis angle controller is designed and tested on the setup along with the PWM scheme. Finally, a pendulum is connected to the other end of the platform and a rotary inverted pendulum (Furuta Pendulum) is constructed. In this way, an inherently unstable, under-actuated, on–off driven system is obtained. For the swing-up motion of the pendulum, an energy-based method is employed. Balancing of the pendulum is achieved by an observer-based state feedback controller under small angle assumption and quasi-linear outputs from the PWM driven thrusters. All of these control methodologies are realized on a real-time target machine. The pendulum is stabilized in seven seconds after five swings, which is comparable to the systems with electric motors. |
| first_indexed | 2024-03-10T16:00:34Z |
| format | Article |
| id | doaj.art-309cd1f1bdee4b798b3a51e55f72922a |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T16:00:34Z |
| publishDate | 2020-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-309cd1f1bdee4b798b3a51e55f72922a2023-11-20T15:17:54ZengMDPI AGActuators2076-08252020-09-01949510.3390/act9040095Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas ThrustersYusuf Silik0Ulas Yaman1Department of Control Technologies, Roketsan Inc., Ankara 06780, TurkeyDepartment of Mechanical Engineering, Middle East Technical University, Ankara 06800, TurkeyThis article describes the control of a rotary inverted pendulum utilizing on–off-type cold gas thrusters as the actuators, which have high similarities with thruster actuated spacecrafts with slosh dynamics. The study is completed in three phases. Firstly, a Pulse Width Modulator (PWM) design method is utilized to obtain quasi-linear thrust output from the on–off-type thrusters. Then, a single axis angle controller is designed and tested on the setup along with the PWM scheme. Finally, a pendulum is connected to the other end of the platform and a rotary inverted pendulum (Furuta Pendulum) is constructed. In this way, an inherently unstable, under-actuated, on–off driven system is obtained. For the swing-up motion of the pendulum, an energy-based method is employed. Balancing of the pendulum is achieved by an observer-based state feedback controller under small angle assumption and quasi-linear outputs from the PWM driven thrusters. All of these control methodologies are realized on a real-time target machine. The pendulum is stabilized in seven seconds after five swings, which is comparable to the systems with electric motors.https://www.mdpi.com/2076-0825/9/4/95cold gas thrusterfuruta pendulumpulse width modulationrotary inverted pendulum |
| spellingShingle | Yusuf Silik Ulas Yaman Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas Thrusters Actuators cold gas thruster furuta pendulum pulse width modulation rotary inverted pendulum |
| title | Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas Thrusters |
| title_full | Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas Thrusters |
| title_fullStr | Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas Thrusters |
| title_full_unstemmed | Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas Thrusters |
| title_short | Control of Rotary Inverted Pendulum by Using On–Off Type of Cold Gas Thrusters |
| title_sort | control of rotary inverted pendulum by using on off type of cold gas thrusters |
| topic | cold gas thruster furuta pendulum pulse width modulation rotary inverted pendulum |
| url | https://www.mdpi.com/2076-0825/9/4/95 |
| work_keys_str_mv | AT yusufsilik controlofrotaryinvertedpendulumbyusingonofftypeofcoldgasthrusters AT ulasyaman controlofrotaryinvertedpendulumbyusingonofftypeofcoldgasthrusters |