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Optimization of a Pendulum System using Optimica and Modelica

Författare:
Publiceringsår: 2009
Språk: Engelska
Dokumenttyp: Konferensbidrag

Sammanfattning

In this paper Modelica and Optimica are used to solve two different optimal control problems for a system consisting of a pendulum and a cart. These optimizations will demonstrate that Optimica is easy to use and powerful when optimizing systems with highly non-linear dynamics. The optimal control trajectories are applied to a real pendulum and cart system, in open loop as well as in closed loop with an MPC-controller. The experiments show that optimal trajectories from Optimica together with MPC feedback is a suitable control structure when optimal transitions through non-linear dynamics are desired.

Disputation

Nyckelord

  • Technology and Engineering
  • Optimal control
  • Optimica
  • Modelica

Övriga

7th International Modelica Conference 2009
2009-09-22
Como, Italy
Published
Yes
  • LCCC

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