Dynamics Modelling and Parameter Identification of a Reaction Wheel Based Pendulum

被引：0

作者：

Su, Cheng-Yi ^{[1
]}

Peng, Chao-Chung ^{[1
]}

Ravankar, Ankit A. ^{[2
]}

Ravankar, Abhijeet ^{[3
]}

机构：

[1] Natl Cheng Kung Univ, Dept Aeronaut & Astronaut, Tainan, Taiwan

[2] Hokkaido Univ, Fac Engn, Div Human Mech Syst & Design, Sapporo, Hokkaido 0608628, Japan

[3] Kitami Inst Technol, Fac Engn, Sch Reg Innovat & Social Design Engn, Kitami, Hokkaido 0908507, Japan

来源：

2020 FOURTH IEEE INTERNATIONAL CONFERENCE ON ROBOTIC COMPUTING (IRC 2020) | 2020年

关键词：

pendulum; reaction wheel; system identification; least square; SYSTEM;

D O I：

10.1109/IRC.2020.00049

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

In control system research, the pendulum system is one of the important nonlinear systems, and it has been widely used in many control applications. Different from the conventional pendulum system, this paper presents a reaction wheel based pendulum control system. From the application point of view, the design task is to stabilize the pendulum system through the reaction force generated from the flywheel. To this aim, dynamics modelling of the reaction wheel based pendulum must be considered first. Second, the system parameter identification scheme is required for future controller designs. Therefore, in this paper, dynamics modelling of the reaction wheel based pendulum is derived in term of Lagrange equation. For the associated nonlinear model, a discrete model approximation is proposed for the identification of system parameters. Finally, simulations are carried out to demonstrate the feasibility and effectiveness of the proposed method.

引用

页码：271 / 274

页数：4

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