System identifications of a 2DOF pendulum controlled by QUBE-servo and its unwanted oscillation factors

• Autorzy: Le Hoai Nam , Dang Phuoc Vinh , Pham Anh-Duc , Vo Nhu Thanh

Identyfikatory

DOI

10.24425/ame.2020.131699

• Języki publikacji: EN

Abstrakty

EN

System identification is an approach for parameter detection and mathematical model determination using response signals of a dynamic system. Two degrees of freedom (2DOF) pendulum controlled by a QUBE-servo motor is a great experiment device to work with; though it is not easy to control this system due to its complex structure and multi-dimensional outputs. Hence, system identification is required for this system to analyze and evaluate its dynamic behaviors. This paper presents a methodology for identifying a 2DOF pendulum and its dynamic behaviors including noise from an encoder cable. Firstly, all parameters from both mechanical and electrical sides of the QUBE-servo motor are analyzed. Secondly, a mathematical model and identified parameters for the 2DOF pendulum are illustrated. Finally, disturbances from encoder cable of the QUBE-servo motor which introduce an unwanted oscillation or self-vibration in this system are introduced. The effect of itself on output response signals of the 2DOF QUBE-pendulum is also discussed. All identified parameters are checked and verified by a comparison between a theoretical simulation and experimental results. It is found that the disturbance from encoder cable of the 2DOF QUBE-pendulum is not negligible and should be carefully considered as a certain factor affecting response of system.

Słowa kluczowe

EN

system identification 2DOF pendulum; QUBE-servo; unwanted oscillation model

PL

system identyfikacji; niepożądany model oscylacji

• Wydawca: Komitet Budowy Maszyn PAN
• Czasopismo: Archive of Mechanical Engineering
• Rocznik: 2020
• Tom: LXVII, nr 4
• Strony: 435--450
• Opis fizyczny: Bibliogr. 25 poz., rys., tab., wykr.

Twórcy

autor

Le Hoai Nam

• Faculty of Mechanical Engineering, The University of Danang – University of Science and Technology, Danang, Vietnam

autor

Dang Phuoc Vinh

• Faculty of Mechanical Engineering, The University of Danang – University of Science and Technology, Danang, Vietnam

autor

Pham Anh-Duc

• Faculty of Mechanical Engineering, The University of Danang – University of Science and Technology, Danang, Vietnam

autor

Vo Nhu Thanh

• Faculty of Mechanical Engineering, The University of Danang – University of Science and Technology, Danang, Vietnam

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).