Analysis Of Controlled Mechanism With Significant Nonlinearities

Vojtěch Rulc, Hynek Purš, Jan Kovanda


Solving inverted pendulum by co-simulation between multi-body solver
MotionSolve and signal processing control in solidThinking Activate. The simula-
tion of inverted pendulum uses an innovative model of friction which is physically
and mathematically more accurate than usual CAE friction models. This model
of friction adds nonlinearity to the system. Two types of controlling mechanism
for active balancing of inverted pendulum are used: PID and ANN controller. A
non-traditional false angular deviation approach for returning a cart to its initial
position was used.


Inverted pendulum; Controller; Co-simulation; Friction model; Non-linearity

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