An active continuous control method and its experiment on the rapid suppression of inverted pendulum structure oscillation

Aiming at the oscillation control problem of inverted pendulum structures in engineering, we propose an inverted pendulum model with a moving mass, and study the use of the mass to move on the pendulum to suppress the oscillation of the pendulum. The system mechanics are analysed firstly and the preliminary control strategy of the mass' motion is obtained. The real-time angle of the pendulum is used as the input and an active continuous control method based on simple harmonic function is given. Moreover, the energy equivalent damping ratio of the system with a moving mass is derived. The relationship between system parameters, motion parameters and the damping ratio is obtained through simulation. Then, we build an experimental platform corresponding to the proposed model to further prove the results' reliability. The experimental results verify the method's effectiveness, and the same conclusions are obtained as the system equivalent damping simulation results.