CAD DESIGN AND CONTROL OF TRIPLE INVERTED-PENDULUMS SYSTEM

• Main Author: Mustafa T Hussein
• Format: Article
• Language: Arabic
• Published: University of Babylon, Iraq Babil Engineering Collage 2018-11-01
• Series: Iraqi Journal for Mechanical and Materials Engineering
• Subjects: Inverted-pendulum; CAD models; State Feedback control; Model Predictive control; 3D-animation
• Online Access: http://www.iqjfmme.com/index.php/journala/article/view/183
• ISSN: 1819-2076; 2313-3783

This work is aimed to study the dynamic behavior and control of the triple invertedpendulum system. A nonlinear dynamic model of the inverted-pendulums fixed on a cart, based on CAD model is developed. The Lagrange equation is used to obtain the nonlinear dynamic models of the system. The dynamic model is then linearized around operating point. An augmented dynamic model using the linearized model is also derived. Two control approaches are used to stabilize the pendulums in vertical position. First approach: State Feedback Control based on the linearized model is used to generate the input force control to stabilize the system. Second approach: Model Predictive Control is designed based on augmented dynamic Model to control the motion of the system. In order to verify the developed model and the chosen controller gains several simulations for different carts’ paths are carried out. Several 3D animations are also presented to verify the usefulness of the designed CAD model and the controllers. As a future work: the 3D model of the triple inverted-pendulum system gives a valuable resource for virtual reality work. Beside, another advanced control approach can be applied on the derived dynamic model.