연세대학교,전력및제어공학실험 ,제어프로젝트

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본문내용

First, we will model the system of pendulum system. This time, our model would slightly be different from that of previous experiment. The reference angle of the pendulum is downward. Therefore, when there is a pendulum below, the angle becomes zero.

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Total system’s net force will equal to sum of net force of cart, net force of pendulum, friction force of cart. Also, total system’s net torque will equal to sum of net torque of cart and pendulum.
Now, linearize above model assuming θ≈0 (sinθ≈θ,cosθ≈1).

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We decided that it was impossible to design a PID in the same way as the system we had previously learned from textbooks. This is because the transfer function of the system can not be obtained in the first place. To solve a given problem, we need to know what variables we can control. When we think about it, the variables that we will eventually have to control are each of the numbers, gain, and input of the PID.

참고자료

· Control System Engineering 6th edition, Norman S. Nise