Responses of the Controlled Inverted Pendulum to Vertical Oscillations

• NAKAGAWA Chihiro

  Institute of Industrial Science, The University of Tokyo JSPS Research Fellow

• NAKANO Kimihiko

  東京大学生産技術研究所

• SUDA Yoshihiro

  東京大学生産技術研究所

• HAYASHI Ryuzo

  東京農工大学大学院共生科学技術研究院

Bibliographic Information

Other Title

• 制御された倒立振子の上下振動に対する応答
• セイギョサレタ トウリツ フリコ ノ ジョウゲ シンドウ ニ タイスル オウトウ

Abstract

This paper is an analysis of the investigations regarding the responses of the controlled inverted pendulum to vertical oscillations. First, the inverted pendulum is stabilized by the optimal controller. Next, with theoretical analysis and numerical simulations conjoined with experiments using the large scale vibration exciter, the effect of the vertical vibration on the stability of the inverted pendulum is examined. The results show that the system dynamics is governed by the Mathieu equation. This being so, the frequency response reaches its peak when the frequency of the forced vibration is twice as high as the natural frequency of the controlled inverted pendulum system.

Journal

• TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

  TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 74 (744), 2009-2014, 2008

  The Japan Society of Mechanical Engineers

Keywords

• Vibration Control
• Parametric Excitation
• Motion Control
• Vehicle Dynamics
• Inverted Pendulum
• Vertical Oscillation

Details

• CRID: 1390282681364688896
• NII Article ID: 110006873965
• NII Article ID: 130004236772
• NII Book ID: AN00187463
• DOI: 10.1299/kikaic.74.2009
• ISSN: 18848354
• ISSN: 03875024
• NDL BIB ID: 9628059
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I9628059
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/74/744/74_744_2009/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed