<abstract xmlns="http://www.w3.org/1999/xhtml"><p>A single inverted pendulum on a cart (SIPC) is designed and modeled physically using SolidWorks. The model is then exported to the Simulink environment to form a Simscape model for simulation and test purposes. This type of modeling uses a physical grid tactic to model mechanical structures. It requires connection of the physical elements with physical signal converter to define the implicit system dynamics to be modeled. The integration between the SolidWorks and Simscape eliminates the need of deriving the mathematical model and provides a platform for the rapid controller design for the system. State feedback control scheme is proposed, designed, and tuned aiming to maintain the pendulum in the upright place while tracking the desired cart position. Several simulation cases are studied to prove the controller abilities. In order to examine the controller robustness, disturbance rejection and noise attenuation capabilities are also discovered.</p></abstract>

A single inverted pendulum on a cart (SIPC) is designed and modeled physically using SolidWorks. The model is then exported to the Simulink environment to form a Simscape model for simulation and test purposes. This type of modeling uses a physical grid tactic to model mechanical structures. It requires connection of the physical elements with physical signal converter to define the implicit system dynamics to be modeled. The integration between the SolidWorks and Simscape eliminates the need of deriving the mathematical model and provides a platform for the rapid controller design for the system. State feedback control scheme is proposed, designed, and tuned aiming to maintain the pendulum in the upright place while tracking the desired cart position. Several simulation cases are studied to prove the controller abilities. In order to examine the controller robustness, disturbance rejection and noise attenuation capabilities are also discovered.

Integrated SolidWorks and Simscape platform for the design and control of an inverted pendulum system

Journal of Electrical Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

A single inverted pendulum on a cart (SIPC) is designed and modeled physically using SolidWorks. The model is then exported to the Simulink environment to form...

Integrated SolidWorks and Simscape platform for the design and control of an inverted pendulum system

Online veröffentlicht: 13. Mai 2020

Seitenbereich: 122 - 126

Eingereicht: 13. Feb. 2020

DOI: https://doi.org/10.2478/jee-2020-0018

Schlüsselwörter
inverted pendulum on a cart, robust control, simscape modeling, SolidWorks, state feedback controller

© 2020 Ahmed Alkamachi, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Integrated SolidWorks and Simscape platform for the design and control of an inverted pendulum system

Online veröffentlicht: 13. Mai 2020

Seitenbereich: 122 - 126

Eingereicht: 13. Feb. 2020

DOI: https://doi.org/10.2478/jee-2020-0018

Schlüsselwörterinverted pendulum on a cart, robust control, simscape modeling, SolidWorks, state feedback controller

© 2020 Ahmed Alkamachi, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Schlüsselwörter
inverted pendulum on a cart, robust control, simscape modeling, SolidWorks, state feedback controller