Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Dynamic analysis and control of a double pendulum arm excited by an RLC circuit
Submission Author:
Angelo Marcelo Tusset , PR
Co-Authors:
Angelo Marcelo Tusset, José Manoel Balthazar, Clivaldo Oliveira , Marcus Varanis, Vinicius Piccirillo
Presenter: Angelo Marcelo Tusset
doi://10.26678/ABCM.COBEM2021.COB2021-2250
Abstract
In this paper the dynamic of a double pendulum arm coupled through a magnetic field to a nonlinear RLC based shaker circuit is numerically studied. This kind of electromechanical system are frequently found in robotic systems, and have important applications in Engineering Sciences. The double pendulum is considered as a three degree of freedom system coupled through a magnetic field to an RLC circuit based nonlinear shaker, where the capacitor voltage is a nonlinear function of the instantaneous electric charge. The nonlinear response analysis of the system is done by various techniques, including bifurcation diagrams, phase portraits, power spectral densities (FFT), and Lyapunov exponents. The bifurcation diagram is constructed to explore the qualitative behavior of the system. Numerical simulations show the existence of chaotic and hyperchaotic behavior for some regions in the parameter space and this behavior is characterized by Lyapunov exponents. In order to suppress the chaotic motion, a PID control is proposed and analyzed. Numerical simulations show the effectiveness of the proposed control in suppressing the chaotic motion.
Keywords
Electromechanical System, PID control, Chaos Suppression, Hyperchaotic behavior, Chaotic behavior
