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SDRE Control Applied to an Electromechanical Pendulum Excited by a Non-Ideal Motor

[+] Author Affiliations
Atila Madureira Bueno

São Paulo State University, Sorocaba, SP, Brazil

Angelo Marcelo Tusset

UTFPR - Ponta Grossa, Ponta Grossa, PR, Brazil

João Paulo Martins dos Santos

Air Force Academy (AFA), Pirassununga, SP, Brazil

Masayoshi Tsuchida

UNESP - São José do Rio Preto, São J. do Rio Preto, SP, Brazil

José Manuel Balthazar

UNESP – Rio Claro, Rio Claro, SP, Brazil

Paper No. DETC2013-12676, pp. V008T13A031; 9 pages
doi:10.1115/DETC2013-12676
From:
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 8: 22nd Reliability, Stress Analysis, and Failure Prevention Conference; 25th Conference on Mechanical Vibration and Noise
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5599-7
  • Copyright © 2013 by ASME

abstract

The dynamical behavior of an electromechanical pendulum system is analyzed by means of the classical perturbation theory. A frequency response model of the system is obtained, and the number of unstable poles are determined with the Routh-Hurwitz criterion. Numerical simulations show that the system presents nonlinear behavior such as hysteresis, with hard and soft characteristics, and the Sommerfeld effect in the resonance region. In order to keep the oscillations of the electromechanical system in a pre-defined amplitude range a control strategy is designed. The SDRE control strategy is used considering two control signals, a feedback control that tracks the system to a desired periodic orbit, and a nonlinear feedforward control that holds the system to that desired periodic orbit. Additionally, the robustness of the control technique is tested for parametric uncertainties. Numerical simulations show the efficiency of the control strategy.

Copyright © 2013 by ASME
Topics: Engines , Pendulums

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