Pendulum Angle Estimation with a Complementary Filter

Open Access
Author:
Lupo, Dominic Remo
Area of Honors:
Mechanical Engineering
Degree:
Bachelor of Science
Document Type:
Thesis
Thesis Supervisors:
  • Joseph Michael Mahoney, Thesis Supervisor
  • Sandy Feinstein, Honors Advisor
Keywords:
  • Double
  • Furuta
  • Pendulum
  • Complementary
  • Accelerometer
  • Gyroscope
  • Filter
Abstract:
This study investigates the effectiveness of a second-order complementary filter when used to calculate angular position of two different systems. Calculating angular position is crucial in many current fields, such as unmanned systems, autonomous systems, and biomechanics. A double pendulum and a Furuta pendulum were constructed to test the effectiveness of the filter. Both pendulum systems were tested with varying characteristics like duration of test and magnitude of input. The different characteristics demonstrated the strengths and weakness of the filter when compared to calculating angular position from an accelerometer or gyroscope. The complementary filter was the optimal method for calculating angular position. The complementary filter performed better when calculating angular position in a Furuta pendulum than a double pendulum. The difference in performance was caused by the double pendulum experiencing more undesirable accelerations when calculating angular position.