The Inverted Pendulum
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Inverted Pendulum System Introduction This Lab Experiment Consists of Two Experimental Procedures, Each with Sub Parts
Inverted Pendulum System Introduction This lab experiment consists of two experimental procedures, each with sub parts. Experiment 1 is used to determine the system parameters needed to implement a controller. Part A finds the hardware gains in each direction of motion. Part B requires calculation of system parameters such as the inertia, and experimental verification of the calculations. Experiment 2 then implements a controller. Part A tests the system without the controller activated. Part B then activates the controller and compares the stability to Part A. Part C then has a series of increasing step responses to determine the controller’s ability to track the desired output. Finally Part D has an increasing frequency input into the system to determine the system’s frequency response. Hardware Figure 1 shows the Inverted Pendulum Experiment. It consists of a pendulum rod which supports the sliding balance rod. The balance rod is driven by a belt and pulley which in turn is driven by a drive shaft connected to a DC servo motor below the pendulum rod. There are two series of weights included that affect the physical plant: brass counter weights connected underneath the pivot plate with adjustable height and weight and brass “donut” weights attached to both ends of the balance rod. Figure 1: Model 505 ECP Inverted Pendulum Apparatus 1 Safety - Be careful on the step where students are asked to physically turning the equipment upside-down. Make sure the device is not on the edge of the table after it is inverted. - Make sure the pendulum, when released, will not hit anyone or anything. -
Forced Mechanical Oscillations
169 Carl von Ossietzky Universität Oldenburg – Faculty V - Institute of Physics Module Introductory laboratory course physics – Part I Forced mechanical oscillations Keywords: HOOKE's law, harmonic oscillation, harmonic oscillator, eigenfrequency, damped harmonic oscillator, resonance, amplitude resonance, energy resonance, resonance curves References: /1/ DEMTRÖDER, W.: „Experimentalphysik 1 – Mechanik und Wärme“, Springer-Verlag, Berlin among others. /2/ TIPLER, P.A.: „Physik“, Spektrum Akademischer Verlag, Heidelberg among others. /3/ ALONSO, M., FINN, E. J.: „Fundamental University Physics, Vol. 1: Mechanics“, Addison-Wesley Publishing Company, Reading (Mass.) among others. 1 Introduction It is the object of this experiment to study the properties of a „harmonic oscillator“ in a simple mechanical model. Such harmonic oscillators will be encountered in different fields of physics again and again, for example in electrodynamics (see experiment on electromagnetic resonant circuit) and atomic physics. Therefore it is very important to understand this experiment, especially the importance of the amplitude resonance and phase curves. 2 Theory 2.1 Undamped harmonic oscillator Let us observe a set-up according to Fig. 1, where a sphere of mass mK is vertically suspended (x-direc- tion) on a spring. Let us neglect the effects of friction for the moment. When the sphere is at rest, there is an equilibrium between the force of gravity, which points downwards, and the dragging resilience which points upwards; the centre of the sphere is then in the position x = 0. A deflection of the sphere from its equilibrium position by x causes a proportional dragging force FR opposite to x: (1) FxR ∝− The proportionality constant (elastic or spring constant or directional quantity) is denoted D, and Eq. -
The Damped Harmonic Oscillator
THE DAMPED HARMONIC OSCILLATOR Reading: Main 3.1, 3.2, 3.3 Taylor 5.4 Giancoli 14.7, 14.8 Free, undamped oscillators – other examples k m L No friction I C k m q 1 x m!x! = !kx q!! = ! q LC ! ! r; r L = θ Common notation for all g !! 2 T ! " # ! !!! + " ! = 0 m L 0 mg k friction m 1 LI! + q + RI = 0 x C 1 Lq!!+ q + Rq! = 0 C m!x! = !kx ! bx! ! r L = cm θ Common notation for all g !! ! 2 T ! " # ! # b'! !!! + 2"!! +# ! = 0 m L 0 mg Natural motion of damped harmonic oscillator Force = mx˙˙ restoring force + resistive force = mx˙˙ ! !kx ! k Need a model for this. m Try restoring force proportional to velocity k m x !bx! How do we choose a model? Physically reasonable, mathematically tractable … Validation comes IF it describes the experimental system accurately Natural motion of damped harmonic oscillator Force = mx˙˙ restoring force + resistive force = mx˙˙ !kx ! bx! = m!x! ! Divide by coefficient of d2x/dt2 ! and rearrange: x 2 x 2 x 0 !!+ ! ! + " 0 = inverse time β and ω0 (rate or frequency) are generic to any oscillating system This is the notation of TM; Main uses γ = 2β. Natural motion of damped harmonic oscillator 2 x˙˙ + 2"x˙ +#0 x = 0 Try x(t) = Ce pt C, p are unknown constants ! x˙ (t) = px(t), x˙˙ (t) = p2 x(t) p2 2 p 2 x(t) 0 Substitute: ( + ! + " 0 ) = ! 2 2 Now p is known (and p = !" ± " ! # 0 there are 2 p values) p t p t x(t) = Ce + + C'e " Must be sure to make x real! ! Natural motion of damped HO Can identify 3 cases " < #0 underdamped ! " > #0 overdamped ! " = #0 critically damped time ---> ! underdamped " < #0 # 2 !1 = ! 0 1" 2 ! 0 ! time ---> 2 2 p = !" ± " ! # 0 = !" ± i#1 x(t) = Ce"#t+i$1t +C*e"#t"i$1t Keep x(t) real "#t x(t) = Ae [cos($1t +%)] complex <-> amp/phase System oscillates at "frequency" ω1 (very close to ω0) ! - but in fact there is not only one single frequency associated with the motion as we will see. -
Problem Set 26: Feedback Example: the Inverted Pendulum
26 Feedback Example: The Inverted Pendulum Recommended Problems P26.1 Consider an inverted pendulum mounted on a movable cart as depicted in Figure P26.1. We have modeled the pendulum as consisting of a massless rod of length L, with a mass m attached at the end. The variable 0(t) denotes the pendulum's angular deflection from the vertical, g is gravitational acceleration, s(t) is the position of the cart with respect to some reference point, a(t) is the acceleration of the cart, and x(t) represents the angular acceleration resulting from any disturbances, such as gusts of wind. NIM L L I x(t) 0(t) N9 a(t) s(t) Figure P26.1 Our goal in this problem is to analyze the dynamics of the inverted pendulum and more specifically to investigate the problem of balancing the pendulum by judi cious choice of the cart acceleration a(t). The differential equation relating 0(t), a(t), and x(t) is d20(t) L dt = g sin [(t)] - a(t) cos [(t)] + Lx(t) (P26.1-1) This relation merely equates the actual acceleration of the mass along a direction perpendicular to the rod and the applied accelerations (gravity, the disturbance acceleration due to x(t), and the cart acceleration) along this direction. Note that eq. (P26.1-1) is a nonlinear differential equation relating 0(t), a(t), and x(t). The detailed, exact analysis of the behavior of the pendulum therefore requires that we examine this nonlinear equation; however, we can obtain a great deal of insight into the dynamics of the inverted pendulum by performing a linear analysis. -
VIBRATIONAL SPECTROSCOPY • the Vibrational Energy V(R) Can Be Calculated Using the (Classical) Model of the Harmonic Oscillator
VIBRATIONAL SPECTROSCOPY • The vibrational energy V(r) can be calculated using the (classical) model of the harmonic oscillator: • Using this potential energy function in the Schrödinger equation, the vibrational frequency can be calculated: The vibrational frequency is increasing with: • increasing force constant f = increasing bond strength • decreasing atomic mass • Example: f cc > f c=c > f c-c Vibrational spectra (I): Harmonic oscillator model • Infrared radiation in the range from 10,000 – 100 cm –1 is absorbed and converted by an organic molecule into energy of molecular vibration –> this absorption is quantized: A simple harmonic oscillator is a mechanical system consisting of a point mass connected to a massless spring. The mass is under action of a restoring force proportional to the displacement of particle from its equilibrium position and the force constant f (also k in followings) of the spring. MOLECULES I: Vibrational We model the vibrational motion as a harmonic oscillator, two masses attached by a spring. nu and vee! Solving the Schrödinger equation for the 1 v h(v 2 ) harmonic oscillator you find the following quantized energy levels: v 0,1,2,... The energy levels The level are non-degenerate, that is gv=1 for all values of v. The energy levels are equally spaced by hn. The energy of the lowest state is NOT zero. This is called the zero-point energy. 1 R h Re 0 2 Vibrational spectra (III): Rotation-vibration transitions The vibrational spectra appear as bands rather than lines. When vibrational spectra of gaseous diatomic molecules are observed under high-resolution conditions, each band can be found to contain a large number of closely spaced components— band spectra. -
Harmonic Oscillator with Time-Dependent Effective-Mass And
Harmonic oscillator with time-dependent effective-mass and frequency with a possible application to 'chirped tidal' gravitational waves forces affecting interferometric detectors Yacob Ben-Aryeh Physics Department, Technion-Israel Institute of Technology, Haifa,32000,Israel e-mail: [email protected] ; Fax: 972-4-8295755 Abstract The general theory of time-dependent frequency and time-dependent mass ('effective mass') is described. The general theory for time-dependent harmonic-oscillator is applied in the present research for studying certain quantum effects in the interferometers for detecting gravitational waves. When an astronomical binary system approaches its point of coalescence the gravitational wave intensity and frequency are increasing and this can lead to strong deviations from the simple description of harmonic oscillations for the interferometric masses on which the mirrors are placed. It is shown that under such conditions the harmonic oscillations of these masses can be described by mechanical harmonic-oscillators with time- dependent frequency and effective-mass. In the present theoretical model the effective- mass is decreasing with time describing pumping phenomena in which the oscillator amplitude is increasing with time. The quantization of this system is analyzed by the use of the adiabatic approximation. It is found that the increase of the gravitational wave intensity, within the adiabatic approximation, leads to squeezing phenomena where the quantum noise in one quadrature is increased and in the other quadrature it is decreased. PACS numbers: 04.80.Nn, 03.65.Bz, 42.50.Dv. Keywords: Gravitational waves, harmonic-oscillator with time-dependent effective- mass 1 1.Introduction The problem of harmonic-oscillator with time-dependent mass has been related to a quantum damped oscillator [1-7]. -
The Stability of an Inverted Pendulum
The Stability of an Inverted Pendulum Mentor: John Gemmer Sean Ashley Avery Hope D’Amelio Jiaying Liu Cameron Warren Abstract: The inverted pendulum is a simple system in which both stable and unstable state are easily observed. The upward inverted state is unstable, though it has long been known that a simple rigid pendulum can be stabilized in its inverted state by oscillating its base at an angle. We made the model to simulate the stabilization of the simple inverted pendulum. Also, the numerical analysis was used to find the stability angle. Introduction The model of the simple pendulum problem is one the most well studied dynamical systems. Imagine a weight attached to the end of weightless rod that is freely swinging back and forth about some pivot without friction. The governing equation for this idealized mathematical model is given as d 2θ 2 + glsinθ = 0, where g is gravitational acceleration, � is the length of the pendulum, and � is the dt angular displacement about downward vertical. If the pendulum starts at any given angle, we can expect € € to see one of the following happen: the pendulum will oscillate about the downward angle,θ = 0; it will continue to rotate around the pivot; or it will stay still, atθ = 0,π , but atθ = π any slight disturbance will € cause the pendulum to swing downward. € € Separatrix Rotations Oscillations The phase portrait above shows that the stability points for the simple pendulum are atθ = πn, for n = 0,±1,±2,.... For even n‘s,θ is a stable point and if given some angular velocity,ω , the pendulum € will always oscillate around it, but for odd n’s,θ is an unstable point, so even the smallest angular € € € € velocity will knock the pendulum off it and it will swing down toward its stable point. -
Model-Based Proprioceptive State Estimation for Spring-Mass Running
Model-Based Proprioceptive State Estimation for Spring-Mass Running Ozlem¨ Gur¨ and Uluc¸Saranlı Abstract—Autonomous applications of legged platforms will [18] limit their utility for use with fully autonomous mobile inevitably require accurate state estimation both for feedback platforms. Visual state estimation methods by themselves often control as well as mapping and planning. Even though kinematic do not offer sufficient measurement bandwith and accuracy models and low-bandwidth visual localization may be sufficient for fully-actuated, statically stable legged robots, they are in- and when they do, they entail high computational loads that are adequate for dynamically dexterous, underactuated platforms not feasible for autonomous operation [17]. As a consequence, where second order dynamics are dominant, noise levels are a combination of both proprioceptive and exteroceptive sensors high and sensory limitations are more severe. In this paper, we are often used within filter based sensor fusion frameworks to introduce a model based state estimation method for dynamic combine the advantages of both approaches. running behaviors with a simple spring-mass runner. By using an approximate analytic solution to the dynamics of the model within In this paper, we show how the use of an accurate analytic an Extended Kalman filter framework, the estimation accuracy of motion model and additional cues from intermittent kinematic our model remains accurate even at low sampling frequencies. events can be utilized to achieve accurate state estimation for We also propose two new event-based sensory modalities that dynamic running even with a very limited sensory suite. To further improve estimation performance in cases where even this end, we work with the well-established Spring-Loaded the internal kinematics of a robot cannot be fully observed, such as when flexible materials are used for limb designs. -
22.51 Course Notes, Chapter 9: Harmonic Oscillator
9. Harmonic Oscillator 9.1 Harmonic Oscillator 9.1.1 Classical harmonic oscillator and h.o. model 9.1.2 Oscillator Hamiltonian: Position and momentum operators 9.1.3 Position representation 9.1.4 Heisenberg picture 9.1.5 Schr¨odinger picture 9.2 Uncertainty relationships 9.3 Coherent States 9.3.1 Expansion in terms of number states 9.3.2 Non-Orthogonality 9.3.3 Uncertainty relationships 9.3.4 X-representation 9.4 Phonons 9.4.1 Harmonic oscillator model for a crystal 9.4.2 Phonons as normal modes of the lattice vibration 9.4.3 Thermal energy density and Specific Heat 9.1 Harmonic Oscillator We have considered up to this moment only systems with a finite number of energy levels; we are now going to consider a system with an infinite number of energy levels: the quantum harmonic oscillator (h.o.). The quantum h.o. is a model that describes systems with a characteristic energy spectrum, given by a ladder of evenly spaced energy levels. The energy difference between two consecutive levels is ∆E. The number of levels is infinite, but there must exist a minimum energy, since the energy must always be positive. Given this spectrum, we expect the Hamiltonian will have the form 1 n = n + ~ω n , H | i 2 | i where each level in the ladder is identified by a number n. The name of the model is due to the analogy with characteristics of classical h.o., which we will review first. 9.1.1 Classical harmonic oscillator and h.o. -
The Strengths and Weaknesses of Inverted Pendulum
View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by University of Salford Institutional Repository THE STRENGTHS AND WEAKNESSES OF INVERTED PENDULUM MODELS OF HUMAN WALKING Michael McGrath1, David Howard2, Richard Baker1 1School of Health Sciences, University of Salford, M6 6PU, UK; 2School of Computing, Science and Engineering, University of Salford, M5 4WT, UK. Email: [email protected] Keywords: Inverted pendulum, gait, walking, modelling Word count: 3024 Abstract – An investigation into the kinematic and kinetic predictions of two “inverted pendulum” (IP) models of gait was undertaken. The first model consisted of a single leg, with anthropometrically correct mass and moment of inertia, and a point mass at the hip representing the rest of the body. A second model incorporating the physiological extension of a head‐arms‐trunk (HAT) segment, held upright by an actuated hip moment, was developed for comparison. Simulations were performed, using both models, and quantitatively compared with empirical gait data. There was little difference between the two models’ predictions of kinematics and ground reaction force (GRF). The models agreed well with empirical data through mid‐stance (20‐40% of the gait cycle) suggesting that IP models adequately simulate this phase (mean error less than one standard deviation). IP models are not cyclic, however, and cannot adequately simulate double support and step‐ to‐step transition. This is because the forces under both legs augment each other during double support to increase the vertical GRF. The incorporation of an actuated hip joint was the most novel change and added a new dimension to the classic IP model. -
Exact Solution for the Nonlinear Pendulum (Solu¸C˜Aoexata Do Pˆendulon˜Aolinear)
Revista Brasileira de Ensino de F¶³sica, v. 29, n. 4, p. 645-648, (2007) www.sb¯sica.org.br Notas e Discuss~oes Exact solution for the nonlinear pendulum (Solu»c~aoexata do p^endulon~aolinear) A. Bel¶endez1, C. Pascual, D.I. M¶endez,T. Bel¶endezand C. Neipp Departamento de F¶³sica, Ingenier¶³ade Sistemas y Teor¶³ade la Se~nal,Universidad de Alicante, Alicante, Spain Recebido em 30/7/2007; Aceito em 28/8/2007 This paper deals with the nonlinear oscillation of a simple pendulum and presents not only the exact formula for the period but also the exact expression of the angular displacement as a function of the time, the amplitude of oscillations and the angular frequency for small oscillations. This angular displacement is written in terms of the Jacobi elliptic function sn(u;m) using the following initial conditions: the initial angular displacement is di®erent from zero while the initial angular velocity is zero. The angular displacements are plotted using Mathematica, an available symbolic computer program that allows us to plot easily the function obtained. As we will see, even for amplitudes as high as 0.75¼ (135±) it is possible to use the expression for the angular displacement, but considering the exact expression for the angular frequency ! in terms of the complete elliptic integral of the ¯rst kind. We can conclude that for amplitudes lower than 135o the periodic motion exhibited by a simple pendulum is practically harmonic but its oscillations are not isochronous (the period is a function of the initial amplitude). -
Solving the Harmonic Oscillator Equation
Solving the Harmonic Oscillator Equation Morgan Root NCSU Department of Math Spring-Mass System Consider a mass attached to a wall by means of a spring. Define y=0 to be the equilibrium position of the block. y(t) will be a measure of the displacement from this equilibrium at a given time. Take dy(0) y(0) = y0 and dt = v0. Basic Physical Laws Newton’s Second Law of motion states tells us that the acceleration of an object due to an applied force is in the direction of the force and inversely proportional to the mass being moved. This can be stated in the familiar form: Fnet = ma In the one dimensional case this can be written as: Fnet = m&y& Relevant Forces Hooke’s Law (k is FH = −ky called Hooke’s constant) Friction is a force that FF = −cy& opposes motion. We assume a friction proportional to velocity. Harmonic Oscillator Assuming there are no other forces acting on the system we have what is known as a Harmonic Oscillator or also known as the Spring-Mass- Dashpot. Fnet = FH + FF or m&y&(t) = −ky(t) − cy&(t) Solving the Simple Harmonic System m&y&(t) + cy&(t) + ky(t) = 0 If there is no friction, c=0, then we have an “Undamped System”, or a Simple Harmonic Oscillator. We will solve this first. m&y&(t) + ky(t) = 0 Simple Harmonic Oscillator k Notice that we can take K = m and look at the system: &y&(t) = −Ky(t) We know at least two functions that will solve this equation.