E3S Web Conf.
Volume 197, 202075th National ATI Congress – #7 Clean Energy for all (ATI 2020)
|Number of page(s)||9|
|Section||Hydraulics and Pneumatics|
|Published online||22 October 2020|
Stability analysis of a pneumatically actuated inverted pendulum
Politecnico di Torino, Technical University, C.so Duca degli Abruzzi 24, 10129, Torino, Italy
This paper deals with the stabilization of an inverted pendulum on cart; the latter is pneumatically actuated by a double acting cylinder controlled by low cost proportional valves. In particular, a numerical model of whole system is developed in order to find the ability of the pneumatic actuation in stabilizing the pendulum and evaluate its bandwidth. A cascade of two control loops (the inner one for the pendulum angle, the outer one for the cart displacement) are analyzed and proper compensators are defined. The possibility of introducing an additional loop to control the force exerted by the actuator on the cart is evaluated.
© The Authors, published by EDP Sciences, 2020
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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