Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuators
Autor(a) principal: | |
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Data de Publicação: | 2019 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://dx.doi.org/10.1177/0959651819857643 http://hdl.handle.net/11449/189363 |
Resumo: | The attitude control using reaction wheels as actuators has been one of the most popular ways to stabilize and repel external disturbances in aerospace devices. From the controlled change of the angular momentum rate of change using reaction wheels, it is possible to control the oscillation and direction rates of change of rigid bodies in space. Thus, the main idea of this article is to present a case study with different configurations of the well-known reaction wheel pendulum. The first is based on the classical configuration, and the second, a new one, a pendulum with two reaction wheels. For both configurations, proportional–integral–derivative controllers were designed and experimental devices were built to perform real-time controllers using low-cost hardware. The simulated and experimental results have shown that the pendulums were controlled using a simple controller in the inverted position and the results were satisfactory. Four performance indices were calculated to evaluate the results for each configuration. They showed that the pendulum with two reaction wheels worked better than the pendulum with one reaction wheel. Two actuators made it easier to move and control the pendulum in the inverted position. |
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Repositório Institucional da UNESP |
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Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuatorsattitude controlinverted pendulumlow-cost hardwarenonlinear dynamicsReaction wheelsThe attitude control using reaction wheels as actuators has been one of the most popular ways to stabilize and repel external disturbances in aerospace devices. From the controlled change of the angular momentum rate of change using reaction wheels, it is possible to control the oscillation and direction rates of change of rigid bodies in space. Thus, the main idea of this article is to present a case study with different configurations of the well-known reaction wheel pendulum. The first is based on the classical configuration, and the second, a new one, a pendulum with two reaction wheels. For both configurations, proportional–integral–derivative controllers were designed and experimental devices were built to perform real-time controllers using low-cost hardware. The simulated and experimental results have shown that the pendulums were controlled using a simple controller in the inverted position and the results were satisfactory. Four performance indices were calculated to evaluate the results for each configuration. They showed that the pendulum with two reaction wheels worked better than the pendulum with one reaction wheel. Two actuators made it easier to move and control the pendulum in the inverted position.Departamento de Engenharia Mecânica Faculdade de Engenharia de Ilha Solteira UNESP—Universidade Estadual PaulistaDepartamento de Engenharia Elétrica Faculdade de Engenharia de Ilha Solteira UNESP—Universidade Estadual PaulistaDepartamento de Engenharia Mecânica Faculdade de Engenharia de Ilha Solteira UNESP—Universidade Estadual PaulistaDepartamento de Engenharia Elétrica Faculdade de Engenharia de Ilha Solteira UNESP—Universidade Estadual PaulistaUniversidade Estadual Paulista (Unesp)Trentin, João Francisco Silva [UNESP]Cenale, Tiago Peghin [UNESP]da Silva, Samuel [UNESP]Ribeiro, Jean Marcos de Souza [UNESP]2019-10-06T16:38:16Z2019-10-06T16:38:16Z2019-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://dx.doi.org/10.1177/0959651819857643Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering.2041-30410959-6518http://hdl.handle.net/11449/18936310.1177/09596518198576432-s2.0-85068419112Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineeringinfo:eu-repo/semantics/openAccess2021-10-23T19:23:43Zoai:repositorio.unesp.br:11449/189363Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462021-10-23T19:23:43Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuators |
title |
Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuators |
spellingShingle |
Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuators Trentin, João Francisco Silva [UNESP] attitude control inverted pendulum low-cost hardware nonlinear dynamics Reaction wheels |
title_short |
Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuators |
title_full |
Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuators |
title_fullStr |
Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuators |
title_full_unstemmed |
Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuators |
title_sort |
Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuators |
author |
Trentin, João Francisco Silva [UNESP] |
author_facet |
Trentin, João Francisco Silva [UNESP] Cenale, Tiago Peghin [UNESP] da Silva, Samuel [UNESP] Ribeiro, Jean Marcos de Souza [UNESP] |
author_role |
author |
author2 |
Cenale, Tiago Peghin [UNESP] da Silva, Samuel [UNESP] Ribeiro, Jean Marcos de Souza [UNESP] |
author2_role |
author author author |
dc.contributor.none.fl_str_mv |
Universidade Estadual Paulista (Unesp) |
dc.contributor.author.fl_str_mv |
Trentin, João Francisco Silva [UNESP] Cenale, Tiago Peghin [UNESP] da Silva, Samuel [UNESP] Ribeiro, Jean Marcos de Souza [UNESP] |
dc.subject.por.fl_str_mv |
attitude control inverted pendulum low-cost hardware nonlinear dynamics Reaction wheels |
topic |
attitude control inverted pendulum low-cost hardware nonlinear dynamics Reaction wheels |
description |
The attitude control using reaction wheels as actuators has been one of the most popular ways to stabilize and repel external disturbances in aerospace devices. From the controlled change of the angular momentum rate of change using reaction wheels, it is possible to control the oscillation and direction rates of change of rigid bodies in space. Thus, the main idea of this article is to present a case study with different configurations of the well-known reaction wheel pendulum. The first is based on the classical configuration, and the second, a new one, a pendulum with two reaction wheels. For both configurations, proportional–integral–derivative controllers were designed and experimental devices were built to perform real-time controllers using low-cost hardware. The simulated and experimental results have shown that the pendulums were controlled using a simple controller in the inverted position and the results were satisfactory. Four performance indices were calculated to evaluate the results for each configuration. They showed that the pendulum with two reaction wheels worked better than the pendulum with one reaction wheel. Two actuators made it easier to move and control the pendulum in the inverted position. |
publishDate |
2019 |
dc.date.none.fl_str_mv |
2019-10-06T16:38:16Z 2019-10-06T16:38:16Z 2019-01-01 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://dx.doi.org/10.1177/0959651819857643 Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering. 2041-3041 0959-6518 http://hdl.handle.net/11449/189363 10.1177/0959651819857643 2-s2.0-85068419112 |
url |
http://dx.doi.org/10.1177/0959651819857643 http://hdl.handle.net/11449/189363 |
identifier_str_mv |
Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering. 2041-3041 0959-6518 10.1177/0959651819857643 2-s2.0-85068419112 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.source.none.fl_str_mv |
Scopus reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
institution |
UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
repository.name.fl_str_mv |
Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
repository.mail.fl_str_mv |
|
_version_ |
1799964865601732608 |