Parametric identification of reaction wheel pendulums with adaptive control
The paper proposes a new adaptive method for identification of the axial moment of inertia for a two degrees of freedom reaction wheel pendulum with viscous friction in suspension bearings. The pendulum contains a rod, a controlled DC motor and a flywheel attached to the rotor shaft. One end of the rod rotates in hinge
bearing. The controlled DC motor with a flywheel is attached to the other end of the rod. The angles of rotation of the rod and of the controlled flywheel are measured by encoders. The proposed adaptive method is based on an energy algorithm with reversible symmetric motions of the pendulum system. The symmetric
motions are used to eliminate the influence of dissipative factors on the results of identification. The results of computer modelling and experimental results show high accuracy of the proposed identification method.
CYBERNETICS AND PHYSICS, Vol. 7, No. 2. 2018, 57–65. https://doi.org/10.35470/2226-4116-2018-7-2-57-65