文章基本信息

标题：Stability analysis of a pneumatically actuated inverted pendulum
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作者：Federico Colombo ; Luigi Mazza ; Giuseppe Pepe 等
期刊名称：E3S Web of Conferences
印刷版ISSN：2267-1242
电子版ISSN：2267-1242
出版年度：2020
卷号：197
页码：7008-7016
DOI：10.1051/e3sconf/202019707008
出版社：EDP Sciences
摘要：This paper deals with the stabilization of an inverted pendulum on cart; the latter is pneumatically actuated by a double acting cylinder controlled by low cost proportional valves. In particular, a numerical model of whole system is developed in order to find the ability of the pneumatic actuation in stabilizing the pendulum and evaluate its bandwidth. A cascade of two control loops (the inner one for the pendulum angle, the outer one for the cart displacement) are analyzed and proper compensators are defined. The possibility of introducing an additional loop to control the force exerted by the actuator on the cart is evaluated.