ISSN 1817-2172, рег. Эл. № ФС77-39410, ВАК

Differential Equations and Control Processes
(Differencialnie Uravnenia i Protsesy Upravlenia)

Control of Fluctuations of Pendulum on the Mobile Platform


Alexander V. Bratishchev

Don State Technical University,
Professor of Applied Mathematics Department
Professor, doctor fiz.-mat. Nauk


In this article, we derive the equation of motion of a system of two stationary connected material points, one of which can move in a horizontal plane. It follows from the normal form of the corresponding autonomous system of equations that it is impossible to find its equilibrium states analytically. The resulting system is partially integrated. We consider a force field that allows us to dampen system vibrations at any initial state that is not a state of physical equilibrium. The method of analytical design of aggregated controllers (ACAR) is used to control the speed of rotation of the pendulum around the vertical axis. An executable S-model of free and managed systems in the Simulink package is designed. The conclusions based on the results of numerical experiments are made about the behavior of the system when changing its parameters and the field parameters.



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