Reaction Wheel Pendulum Pdf Lagrangian Mechanics Pendulum The final project is a somewhat structured project that guides you through mathematical modeling, friction analysis, and controller design of the reaction wheel pendulum (rwp) using the tools you have gained in ece 486. Results of a control systems design using simulink.
Output Feedback Stabilization Of The Reaction Wheel Pendulum Via Active In this lab we designed a series of controllers of increasing complexity to effectively control the reaction wheel pendulum (rwp). this device consists of a weight and motor mounted at the end of a pendulum affixed to the body of the device through the pivot point. We begin by obtaining the equations of motion for the rwp. next, control of only the reaction wheel's speed is examined. as part of this phase, we investigate counteracting the effect of friction in the motor by “friction compensation.”. According to newton’s thirdlaw, there is an equal and opposite reaction torque on the motor, and hence on the pendulum. this reaction torque can be used to control the motion of the pendulum. we begin by obtaining the equations of motion for the rwp. next, control of only the reaction wheel’s speed is examined. End of the pendulum. its shaft is attached to the rotating reaction wheel and thus provides the relative angle between t pendulum and wheel. their values are initialized to zero at the star.
Final Project The Reaction Wheel Pendulum Control Systems Ece 486 According to newton’s thirdlaw, there is an equal and opposite reaction torque on the motor, and hence on the pendulum. this reaction torque can be used to control the motion of the pendulum. we begin by obtaining the equations of motion for the rwp. next, control of only the reaction wheel’s speed is examined. End of the pendulum. its shaft is attached to the rotating reaction wheel and thus provides the relative angle between t pendulum and wheel. their values are initialized to zero at the star. The reaction wheel pendulum (rwp), shown in figure 1, is a simple pendulum with a rotating wheel at the end. the wheel is actuated by a 24 v, permanent magnet dc motor mounted on the pendulum. this motor can produce a torque on the wheel, causing the wheel to spin. Part 1 of the reaction wheel pendulum, self stabilizing inverted pendulum for uiuc ece 486: control systems. the pendulum stabilizes itself by rotating the w. Next, control of only the reaction wheel’s speed is examined. as part of this phase, we investigate counteracting the effect of friction in the motor by “friction compensation”. Next, control of only the reaction wheel's speed is examined. as part of this phase, we investigate counteracting the effect of friction in the motor by “friction compensation.”.
Comments are closed.