Dynamic Modeling and Simulation of an Underactuated System

5th Colombian Conference of Engineering Physics

物理学;工业技术

Duarte Madrid, Juan Libardo^1 ; Henao, P. A. Ospina^2 ; Querubín, E. González^1

Facultad de Ingeniería Mecatrónica, Universidad Santo Tomás, Bucaramanga, Colombia^1

Departamento de Ciencias Básicas, Universidad Santo Tomás, Bucaramanga, Colombia^2

关键词: Classical mechanics;    Dynamic model and simulation;    Matlab- software;    Physical variables;    Rotary inverted pendulums;    Systems of equations;    Topological analysis;    Under-actuated systems;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/850/1/012005/pdf
DOI  :  10.1088/1742-6596/850/1/012005

学科分类：工业工程学

来源: IOP

【 摘 要 】

In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in SOLIDWORKS 3D CAD software, which based on the material and dimensions of the model provides some physical variables necessary for modeling. In order to verify the results obtained, a comparison the CAD model simulated in the environment SimMechanics of MATLAB software with the mathematical model who was consisting of Euler-Lagrange's equations implemented in Simulink MATLAB, solved with the ODE23tb method, included in the MATLAB libraries for the solution of systems of equations of the type and order obtained. This article also has a topological analysis of pendulum trajectories through a phase space diagram, which allows the identification of stable and unstable regions of the system.