Dynamic model and vibration characteristics of the Furuta pendulum
Abstract
Furuta pendulum, also known as “the inverted rotary pendulum” is a 2DOF model for control platform with initial movement created by a rotary motor. This pendulum model is a good platform not only to implement theoretical control methods but also to evaluate the vibration characteristics of a 2DOF mechatronics system. Despite the regularity of this control platform, few papers have used the dynamics model and vibration characteristics of Furuta pendulum in detail. Thus, this paper presents a mathematical model for the movement of Furuta pendulum based on Euler-Lagrange equations. Furthermore, a simulation model for system control and movement features of this pendulum is established in Matlab environment. Based on the identified parameters of the system, all vibration characteristics of Furuta pendulum are clearly illustrated.
Moraref