Modeling, parameter estimation, and control of an aero-pendulum
Keywords: aero-pendulum, control, didactics, identification, linearization
AbstractIn this work, we propose an aero-pendulum control system design method. We have proposed the aero-pendulum dynamic model employing Newton`s second law of motion, the dynamic model of the DC motor, and the thrust model. We have estimated the model parameters by designing the experiments, acquiring the data, applying a nonlinear optimization algorithm for the parameter estimation, and performing the model validation. We have designed the aero-pendulum control system by first linearizing the nonlinear aero-pendulum model by small-signal analysis and designing a linear controller. We have verified the designed aero-pendulum control system by both simulations and experiments. We have concluded that the control system of a didactic aero-pendulum can be developed by means our proposed design method.