Motion Control of a Pendulum via Magnetic Interaction
P. Atzampou (TU Delft - Dynamics of Structures)
Peter Meijers (TU Delft - Hydraulic Engineering)
A Tsouvalas (TU Delft - Dynamics of Structures, TU Delft - Offshore Engineering)
Andrei V. Metrikine (TU Delft - Offshore Engineering, TU Delft - Engineering Structures)
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Abstract
The present study introduces a modified version of PD Control for the
case of a magnetically controlled pendulum. The response was observed in both
experimental and numerical simulations taking into consideration the non-linearity posed by the system. The modified PD controller was compared to the simple counterpart for further concrete justification of its superiority. The results attained highlight the benefits of the modified PD control in all facets of control
performance, namely the efficiency, the accuracy of the representation of the interaction, the sensitivity on alterations of the control gains as well as the prediction of the experimental response by the numerical simulation. Thus, the control method proposed can serve as a promising foundation for the further development of a non-contact position control technique for offshore wind turbine installation purposes.