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Analysis of the nonlinear chaotic behavior of an inverted flexible pendulum system affected by impulses
Author(s) -
Kahar Hartiny,
Söffker Dirk
Publication year - 2018
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201800310
Subject(s) - inverted pendulum , jumping , chaotic , control theory (sociology) , nonlinear system , pendulum , double pendulum , computer science , mathematics , physics , control (management) , physiology , quantum mechanics , artificial intelligence , biology
In this contribution, the effect of impulses realized by non‐perfect feedback to an inverted flexible pendulum system is studied. Using experimental data from chaotic jumping in an inverted flexible pendulum, several techniques of signal processing and time‐frequency representation are carried out. These methods are used to observe the changes in the nonlinear dynamic properties and time behavior of the system before and during the jumping between equilibrias. The evaluation of the experimentally realized inverted flexible pendulum system for specific control parameters shows that ’chaotic’ jumping behavior between the three equilibrias (with different attraction regions) are depending on the existence of impulses. The results from detailed analysis shows that this is caused by feedback imperfectness. Considering the time‐frequency‐based analysis conducted, it can be stated that the (uncontrolled) impulses causing a temporarily disturbance in the energy distribution between the ’modes’/frequency bands the system vibrates with, which finally leads to a new and more stable distribution in energy, followed by related jumping between the equilibrias.