Identification method for pendulum system moment of inertia with viscous damping

Abstract

The paper proposes a method for identification of axial moment of inertia of the mechanical system called reaction wheel pendulum with a viscous friction in the bearings of the suspension. The method is based on the reversible symmetric motions. Pendulum system motion includes a free measured motion and reverse symmetrical motion at the same angular interval. The pendulum includes a rod with a low-power DC motor with a flywheel attached to the end of the rod. The angle of rotation and velocity of the rod and the flywheel are measured by encoders. The paper introduces a new method,presents a design formula,a mathematical model of the pendulum system and a robust motor control law for it. The method is based on energy algorithm and control residing in electric motor operational changes by means of a flywheel. The mechanical system moves symmetrically that is provided by nonuniform controlled flywheel rotation. As a result, the influence of dissipative factors on identification results is eliminated. Dynamic modeling is carried out for the pendulum system and proves high accuracy of the method. The research results can be used for identification of complex mechanical systems under the action of resistance, dissipative and other forces.