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Double Inverted Pendulum
A double inverted pendulum is the combination of the inverted pendulum and the double pendulum. The double inverted pendulum is unstable, meaning that it will fall down unless it is controlled in some way. The two main methods of controlling a double inverted pendulum are moving the base, as with the inverted pendulum, or by applying a torque at the pivot point between the two pendulums. See also *Inverted pendulum * Inertia wheel pendulum * Furuta pendulum *Tuned mass damper A tuned mass damper (TMD), also known as a harmonic absorber or seismic damper, is a device mounted in structures to reduce mechanical vibrations, consisting of a mass mounted on one or more damped springs. Its oscillation frequency is tuned ... References External links A dynamical simulation of a double inverted pendulum on an oscillatory base Pendulums Control engineering {{classicalmechanics-stub ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Inverted Pendulum
An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is unstable and without additional help will fall over. It can be suspended stably in this inverted position by using a control system to monitor the angle of the pole and move the pivot point horizontally back under the center of mass when it starts to fall over, keeping it balanced. The inverted pendulum is a classic problem in dynamics and control theory and is used as a benchmark for testing control strategies. It is often implemented with the pivot point mounted on a cart that can move horizontally under control of an electronic servo system as shown in the photo; this is called a cart and pole apparatus. Most applications limit the pendulum to 1 degree of freedom by affixing the pole to an axis of rotation. Whereas a normal pendulum is stable when hanging downwards, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright; this can be done ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Double Pendulum
In physics and mathematics, in the area of dynamical systems, a double pendulum also known as a chaos pendulum is a pendulum with another pendulum attached to its end, forming a simple physical system that exhibits rich dynamic behavior with a strong sensitivity to initial conditions. The motion of a double pendulum is governed by a set of coupled ordinary differential equations and is chaotic. Analysis and interpretation Several variants of the double pendulum may be considered; the two limbs may be of equal or unequal lengths and masses, they may be simple pendulums or compound pendulums (also called complex pendulums) and the motion may be in three dimensions or restricted to the vertical plane. In the following analysis, the limbs are taken to be identical compound pendulums of length and mass , and the motion is restricted to two dimensions. In a compound pendulum, the mass is distributed along its length. If the mass is evenly distributed, then the center of mass ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
University Of California, Berkeley
The University of California, Berkeley (UC Berkeley, Berkeley, Cal, or California) is a public land-grant research university in Berkeley, California. Established in 1868 as the University of California, it is the state's first land-grant university and the founding campus of the University of California system. Its fourteen colleges and schools offer over 350 degree programs and enroll some 31,800 undergraduate and 13,200 graduate students. Berkeley ranks among the world's top universities. A founding member of the Association of American Universities, Berkeley hosts many leading research institutes dedicated to science, engineering, and mathematics. The university founded and maintains close relationships with three national laboratories at Berkeley, Livermore and Los Alamos, and has played a prominent role in many scientific advances, from the Manhattan Project and the discovery of 16 chemical elements to breakthroughs in computer science and genomics. Berkeley is ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Inverted Pendulum
An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is unstable and without additional help will fall over. It can be suspended stably in this inverted position by using a control system to monitor the angle of the pole and move the pivot point horizontally back under the center of mass when it starts to fall over, keeping it balanced. The inverted pendulum is a classic problem in dynamics and control theory and is used as a benchmark for testing control strategies. It is often implemented with the pivot point mounted on a cart that can move horizontally under control of an electronic servo system as shown in the photo; this is called a cart and pole apparatus. Most applications limit the pendulum to 1 degree of freedom by affixing the pole to an axis of rotation. Whereas a normal pendulum is stable when hanging downwards, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright; this can be done ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Inertia Wheel Pendulum
An inertia wheel pendulum is a pendulum with an inertia wheel attached. It can be used as a pedagogical problem in control theory. This type of pendulum is often confused with the gyroscopic effect, which has completely different physical nature. See also * Inverted pendulum * Robotic unicycle * Spinning top References * Mark W. Spong, Peter Corke Peter Corke (born 24 August 1959) is an Australian roboticist known for his work on Visual Servoing, field robotics, online education, the online Robot Academy and the Robotics Toolbox and Machine Vision Toolbox for MATLAB (matrix laboratory) ..., Rogelio Lozano. Nonlinear Control of the Gyroscopic Pendulum'' Pendulums Control engineering {{classicalmechanics-stub ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Furuta Pendulum
The Furuta pendulum, or rotational inverted pendulum, consists of a driven arm which rotates in the horizontal plane and a pendulum attached to that arm which is free to rotate in the vertical plane. It was invented in 1992 at Tokyo Institute of Technology by Katsuhisa FurutaXu, Y., Iwase, M. and Furuta, K. (2001) “Time optimal swing-up control of single pendulum”, Journal of Dynamic Systems, Measurement, and Control, 123(3), 518-527.Furuta, K., Iwase, M. (2004) “Swing-up time analysis of pendulum”, Bulletin of the Polish Academy of Sciences: Technical Sciences, 52(3), 153-163.Iwase, M., Åström, K.J., Furuta, K. and Åkesson, J. (2006) “Analysis of safe manual control by using Furuta pendulum”, Proceedings of the IEEE International Conference on Control Applications, 568-572. and his colleagues. It is an example of a complex nonlinear oscillator of interest in control system theory. The pendulum is underactuated and extremely non-linear due to the gravitational f ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Tuned Mass Damper
A tuned mass damper (TMD), also known as a harmonic absorber or seismic damper, is a device mounted in structures to reduce mechanical vibrations, consisting of a mass mounted on one or more damped springs. Its oscillation frequency is tuned to be similar to the resonant frequency of the object it is mounted to, and reduces the object's maximum amplitude while weighing much less than it. TMDs can prevent discomfort, damage, or outright structural failure. They are frequently used in power transmission, automobiles and buildings. Principle Tuned mass dampers stabilize against violent motion caused by harmonic vibration. They use a comparatively lightweight component to reduce the vibration of a system so that its worst-case vibrations are less intense. Roughly speaking, practical systems are tuned to either move the main mode away from a troubling excitation frequency, or to add damping to a resonance that is difficult or expensive to damp directly. An example of the latt ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Pendulums
A pendulum is a weight suspended from a pivot so that it can swing freely. When a pendulum is displaced sideways from its resting, equilibrium position, it is subject to a restoring force due to gravity that will accelerate it back toward the equilibrium position. When released, the restoring force acting on the pendulum's mass causes it to oscillate about the equilibrium position, swinging back and forth. The time for one complete cycle, a left swing and a right swing, is called the period. The period depends on the length of the pendulum and also to a slight degree on the amplitude, the width of the pendulum's swing. From the first scientific investigations of the pendulum around 1602 by Galileo Galilei, the regular motion of pendulums was used for timekeeping and was the world's most accurate timekeeping technology until the 1930s. The pendulum clock invented by Christiaan Huygens in 1658 became the world's standard timekeeper, used in homes and offices for 270 years, and a ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
