Control of Rotary Inverted Pendulum by Using On-Off Type of Cold Gas Thrusters

Silik Y., Yaman U.

ACTUATORS, cilt.9, sa.4, 2020 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 9 Sayı: 4
  • Basım Tarihi: 2020
  • Doi Numarası: 10.3390/act9040095
  • Dergi Adı: ACTUATORS
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Anahtar Kelimeler: cold gas thruster, furuta pendulum, pulse width modulation, rotary inverted pendulum, STABILIZATION, TRACKING, ATTITUDE, VALVE
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

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.