@ARTICLE{Le_Hoai_Nam_System_2020,
 author={Le, Hoai Nam and Dang, Phuoc Vinh and Pham, Anh-Duc and Vo, Nhu Thanh},
 volume={vol. 67},
 number={No 4},
 journal={Archive of Mechanical Engineering},
 pages={435-450},
 howpublished={online},
 year={2020},
 publisher={Polish Academy of Sciences, Committee on Machine Building},
 abstract={System identification is an approach for parameter detection and mathematical model determination using response signals of a dynamic system. Two degrees of freedom (2DOF) pendulum controlled by a QUBE-servo motor is a great experiment device to work with; though it is not easy to control this system due to its complex structure and multi-dimensional outputs. Hence, system identification is required for this system to analyze and evaluate its dynamic behaviors. This paper presents a methodology for identifying a 2DOF pendulum and its dynamic behaviors including noise from an encoder cable. Firstly, all parameters from both mechanical and electrical sides of the QUBE-servo motor are analyzed. Secondly, a mathematical model and identified parameters for the 2DOF pendulum are illustrated. Finally, disturbances from encoder cable of the QUBE-servo motor which introduce an unwanted oscillation or self-vibration in this system are introduced. The effect of itself on output response signals of the 2DOF QUBE-pendulum is also discussed. All identified parameters are checked and verified by a comparison between a theoretical simulation and experimental results. It is found that the disturbance from encoder cable of the 2DOF QUBE-pendulum is not negligible and should be carefully considered as a certain factor affecting response of system.},
 type={Artykuły / Articles},
 title={System identifications of a 2DOF pendulum controlled by QUBE-servo and its unwanted oscillation factors},
 URL={http://ochroma.man.poznan.pl/Content/115031/PDF/AME_2020_131699.pdf},
 doi={10.24425/ame.2020.131699},
 keywords={system identification 2DOF pendulum, QUBE-servo, unwanted oscillation model},
}