Energy‐optimal swing‐up of an electromechanically actuated pendulum

Energy‐optimal swing‐up of an electromechanically actuated pendulum A control strategy for swinging up a planar pendulum, from its hanging to its upright position, is presented. Its hinge is actuated by a DC‐motor. In contrast to frequently used models of torque control, the DC‐motor is included as RLC circuits of stator and armature in this paper. The armature voltage is used as input signal, while the stator current is fixed. By passing the horizontal position there is a local loss of controllability, as the motor torque vanishes there. Hamilton's principle is applied and discretized by a variational integrator (VI) in order to compute the optimal feed‐forward control. Thus, the resulting optimal control problem is transferred into a finite‐dimensional optimization problem, and solved by sequential quadratic programming (SQP) methods. The cost function to be minimized is the consumed electrical energy needed to swing up the pendulum in fixed time. In addition to the feed‐forward control (offline), feed‐back control (online) is added in order to stabilize the swing‐up and the upright position. This feedback‐controller is designed as linear‐quadratic regulator (LQR) for the linearization around the nominal trajectory. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim) http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Proceedings in Applied Mathematics & Mechanics Wiley

Energy‐optimal swing‐up of an electromechanically actuated pendulum

Loading next page...
 
/lp/wiley/energy-optimal-swing-up-of-an-electromechanically-actuated-pendulum-TaZVA03xrE
Publisher
Wiley Subscription Services, Inc., A Wiley Company
Copyright
Copyright © 2017 Wiley Subscription Services
ISSN
1617-7061
eISSN
1617-7061
D.O.I.
10.1002/pamm.201710368
Publisher site
See Article on Publisher Site

Abstract

A control strategy for swinging up a planar pendulum, from its hanging to its upright position, is presented. Its hinge is actuated by a DC‐motor. In contrast to frequently used models of torque control, the DC‐motor is included as RLC circuits of stator and armature in this paper. The armature voltage is used as input signal, while the stator current is fixed. By passing the horizontal position there is a local loss of controllability, as the motor torque vanishes there. Hamilton's principle is applied and discretized by a variational integrator (VI) in order to compute the optimal feed‐forward control. Thus, the resulting optimal control problem is transferred into a finite‐dimensional optimization problem, and solved by sequential quadratic programming (SQP) methods. The cost function to be minimized is the consumed electrical energy needed to swing up the pendulum in fixed time. In addition to the feed‐forward control (offline), feed‐back control (online) is added in order to stabilize the swing‐up and the upright position. This feedback‐controller is designed as linear‐quadratic regulator (LQR) for the linearization around the nominal trajectory. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)

Journal

Proceedings in Applied Mathematics & MechanicsWiley

Published: Jan 1, 2017

References

You’re reading a free preview. Subscribe to read the entire article.


DeepDyve is your
personal research library

It’s your single place to instantly
discover and read the research
that matters to you.

Enjoy affordable access to
over 18 million articles from more than
15,000 peer-reviewed journals.

All for just $49/month

Explore the DeepDyve Library

Search

Query the DeepDyve database, plus search all of PubMed and Google Scholar seamlessly

Organize

Save any article or search result from DeepDyve, PubMed, and Google Scholar... all in one place.

Access

Get unlimited, online access to over 18 million full-text articles from more than 15,000 scientific journals.

Your journals are on DeepDyve

Read from thousands of the leading scholarly journals from SpringerNature, Elsevier, Wiley-Blackwell, Oxford University Press and more.

All the latest content is available, no embargo periods.

See the journals in your area

DeepDyve

Freelancer

DeepDyve

Pro

Price

FREE

$49/month
$360/year

Save searches from
Google Scholar,
PubMed

Create lists to
organize your research

Export lists, citations

Read DeepDyve articles

Abstract access only

Unlimited access to over
18 million full-text articles

Print

20 pages / month

PDF Discount

20% off