Investigate The Performance of the ABSA-PD Controller on a DC Motor Based Pendulum System
DOI:
https://doi.org/10.15282/mekatronika.v7i1.12472Keywords:
ABSA, DC Motor, Modelling, Position Control, Pendulum System, PD ControllerAbstract
The position of the pendulum system must be precisely controlled and maintained by a direct current (DC) motor. This project demonstrates using an ABSA-PD controller to keep the DC motor in its desired position. The prototype of a pendulum system powered by a DC motor must have a mathematical model developed to reproduce that. Matlab/Simulink is used to create and test the mathematical model. The mathematical model is tested in two scenarios: one without a controller and one with a PD controller. The first method of the Ziegler-Nichols approach is used to obtain the gain value of the controller. The created model will undergo further positional verifications. The Simulink toolbox in Matlab is used for the simulation. The controller's effectiveness in regulating the pendulum system was taken into account. The transient response parameters of rise time (Tr), settling time (Ts), percentage overshoot (%OS), and steady-state error of the system response will be used for comparison. The findings will demonstrate that the best projection to mimic the functionality of the pendulum system comes from a sound mathematical model.
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