Affiliation:
1. Department of Applied Mechanics, Budapest University of Technology and Economics, Budapest, Hungary
Abstract
The digital balancing of the Furuta pendulum is studied when the time delay related to the digital control and the dynamics of the actuator have essential effects on stability. Such cases occur when the sampling rate of the digital control is low, that is, the control cycles are slow due to complex signal processing strategies and/or the implementation of cheap low-capacity microprocessors. A corresponding difficulty is that no direct velocity measurement is available. Critical sampling times are identified and stability charts are constructed and validated by experiments including the possible existence of quasi-periodic self-excited oscillations.
Funder
Hungarian National Science Foundation
Subject
Mechanical Engineering,Mechanics of Materials,Aerospace Engineering,Automotive Engineering,General Materials Science
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