Variable Speed Control Moment Gyroscope in an Inverted Pendulum
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/10.1115/1.4044273 http://hdl.handle.net/11449/196205 |
Resumo: | The use of variable speed control moment gyroscope (VSCMG) is an effective way for attitude stabilization of aerospace devices. It is possible to control the oscillation and direction rate of change in rigid bodies in space due to the controlled change of angular momentum rate. Thus, this paper proposes an atypical pendulum configuration controlled by a VSCMG actuator. The idea of the VSCMG pendulum (VSCMGP) is to use both the angular momentum variation in amplitude and direction to implement the control. The controller is designed using Lyapunov theory to stabilize the pendulum in the inverted position. The results illustrate the control using a VSCMG in an inverted pendulum showing how the stabilization of an inverted pendulum is performed using two control actions. Also, the comparison of the proposed pendulum with a classical configuration is presented. |
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Repositório Institucional da UNESP |
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spelling |
Variable Speed Control Moment Gyroscope in an Inverted Pendulumreaction wheelpendulumnonlinear controlnonlinear dynamicsvariable speed control moment gyroscope-VSCMGThe use of variable speed control moment gyroscope (VSCMG) is an effective way for attitude stabilization of aerospace devices. It is possible to control the oscillation and direction rate of change in rigid bodies in space due to the controlled change of angular momentum rate. Thus, this paper proposes an atypical pendulum configuration controlled by a VSCMG actuator. The idea of the VSCMG pendulum (VSCMGP) is to use both the angular momentum variation in amplitude and direction to implement the control. The controller is designed using Lyapunov theory to stabilize the pendulum in the inverted position. The results illustrate the control using a VSCMG in an inverted pendulum showing how the stabilization of an inverted pendulum is performed using two control actions. Also, the comparison of the proposed pendulum with a classical configuration is presented.Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Univ Estadual Paulista, UNESP, Fac Engn, Dept Engn Mecan, BR-15385000 Ilha Solteira, SP, BrazilUniv Colorado, Colorado Ctr Astrodynam Res, Dept Aerosp Engn Sci, Boulder, CO 80309 USAUniv Estadual Paulista, UNESP, Fac Engn, Dept Engn Mecan, BR-15385000 Ilha Solteira, SP, BrazilFAPESP: 2016/21997-0FAPESP: 2017/12985-2FAPESP: 2018/13751-8CNPq: 307520/2016-1AsmeUniversidade Estadual Paulista (Unesp)Univ ColoradoTrentin, Joao F. S. [UNESP]Silva, Samuel da [UNESP]Schaub, Hanspeter2020-12-10T19:36:59Z2020-12-10T19:36:59Z2019-11-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/article9http://dx.doi.org/10.1115/1.4044273Journal Of Dynamic Systems Measurement And Control-transactions Of The Asme. New York: Asme, v. 141, n. 11, 9 p., 2019.0022-0434http://hdl.handle.net/11449/19620510.1115/1.4044273WOS:000488054900012Web of Sciencereponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengJournal Of Dynamic Systems Measurement And Control-transactions Of The Asmeinfo:eu-repo/semantics/openAccess2021-10-23T05:01:51Zoai:repositorio.unesp.br:11449/196205Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462021-10-23T05:01:51Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
Variable Speed Control Moment Gyroscope in an Inverted Pendulum |
title |
Variable Speed Control Moment Gyroscope in an Inverted Pendulum |
spellingShingle |
Variable Speed Control Moment Gyroscope in an Inverted Pendulum Trentin, Joao F. S. [UNESP] reaction wheel pendulum nonlinear control nonlinear dynamics variable speed control moment gyroscope-VSCMG |
title_short |
Variable Speed Control Moment Gyroscope in an Inverted Pendulum |
title_full |
Variable Speed Control Moment Gyroscope in an Inverted Pendulum |
title_fullStr |
Variable Speed Control Moment Gyroscope in an Inverted Pendulum |
title_full_unstemmed |
Variable Speed Control Moment Gyroscope in an Inverted Pendulum |
title_sort |
Variable Speed Control Moment Gyroscope in an Inverted Pendulum |
author |
Trentin, Joao F. S. [UNESP] |
author_facet |
Trentin, Joao F. S. [UNESP] Silva, Samuel da [UNESP] Schaub, Hanspeter |
author_role |
author |
author2 |
Silva, Samuel da [UNESP] Schaub, Hanspeter |
author2_role |
author author |
dc.contributor.none.fl_str_mv |
Universidade Estadual Paulista (Unesp) Univ Colorado |
dc.contributor.author.fl_str_mv |
Trentin, Joao F. S. [UNESP] Silva, Samuel da [UNESP] Schaub, Hanspeter |
dc.subject.por.fl_str_mv |
reaction wheel pendulum nonlinear control nonlinear dynamics variable speed control moment gyroscope-VSCMG |
topic |
reaction wheel pendulum nonlinear control nonlinear dynamics variable speed control moment gyroscope-VSCMG |
description |
The use of variable speed control moment gyroscope (VSCMG) is an effective way for attitude stabilization of aerospace devices. It is possible to control the oscillation and direction rate of change in rigid bodies in space due to the controlled change of angular momentum rate. Thus, this paper proposes an atypical pendulum configuration controlled by a VSCMG actuator. The idea of the VSCMG pendulum (VSCMGP) is to use both the angular momentum variation in amplitude and direction to implement the control. The controller is designed using Lyapunov theory to stabilize the pendulum in the inverted position. The results illustrate the control using a VSCMG in an inverted pendulum showing how the stabilization of an inverted pendulum is performed using two control actions. Also, the comparison of the proposed pendulum with a classical configuration is presented. |
publishDate |
2019 |
dc.date.none.fl_str_mv |
2019-11-01 2020-12-10T19:36:59Z 2020-12-10T19:36:59Z |
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/10.1115/1.4044273 Journal Of Dynamic Systems Measurement And Control-transactions Of The Asme. New York: Asme, v. 141, n. 11, 9 p., 2019. 0022-0434 http://hdl.handle.net/11449/196205 10.1115/1.4044273 WOS:000488054900012 |
url |
http://dx.doi.org/10.1115/1.4044273 http://hdl.handle.net/11449/196205 |
identifier_str_mv |
Journal Of Dynamic Systems Measurement And Control-transactions Of The Asme. New York: Asme, v. 141, n. 11, 9 p., 2019. 0022-0434 10.1115/1.4044273 WOS:000488054900012 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Journal Of Dynamic Systems Measurement And Control-transactions Of The Asme |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
9 |
dc.publisher.none.fl_str_mv |
Asme |
publisher.none.fl_str_mv |
Asme |
dc.source.none.fl_str_mv |
Web of Science 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_ |
1799965201670340608 |