The influences of load mass changing on inverted pendulum stability based on simulation study

1st Nommensen International Conference on Technology and Engineering

Pangaribuan, Timbang^1,2 ; Nasruddin, M.N.^1 ; Marlianto, Eddy^1 ; Sigiro, Mula^3

Department of Physics, Faculty of Mathematics and Natural Science, University of North Sumatera, Jl. Bioteknologi No.1, Medan

20155, Indonesia^1

Department of Electrical Engineering, Faculty of Engineering, Nommensen HKBP University, Jl. Sutomo No. 4A, Medan

20234, Indonesia^2

Department of Physics Education, Faculty of Teacher Training and Education, Nommensen HKBP University, Jl. Sutomo No. 4A, Medan

20234, Indonesia^3

关键词: Inverted pendulum;    Load mass;    Simulation studies;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/237/1/012005/pdf
DOI  :  10.1088/1757-899X/237/1/012005

来源: IOP

【 摘 要 】

An inverted pendulum has nonlinear dynamic, so it is not easy to do in analysis to see its behavior. From many observations which have been made, there are two things that need to be added on the perfection of inverted pendulum. Firstly, when the pendulum has a large mass, and the second when the pendulum is given a load mass much larger than mass of the inverted pendulum. There are some question, first, how big the load mass can be given so that the movement of the inverted pendulum stay stable is. Second, how weight the changes and moves of load mass which can be given. For all the changes, it hopes the inverted pendulum is stay stable. Finally, the final result is still expected to be as stable, it must need conclude what kind of controller is capable of carrying such a mass burden, and how large the mass load limit can be given.