Modeling and control for swing and anti-swing of a wind pendulum

The wind pendulum is a highly nonlinear hysteretic system, the research of which is rarely mentioned. In this paper, the mathematical model of a wind pendulum was developed by using Euler-Lagrange equation. In any direction on a sphere, the mechanical characters of swing control and anti-swing control were modeled and analyzed. Then a simple method was proposed to achieve specific swinging or anti-swinging with external force of wind. The effectiveness of swing and anti-swing control model with PID controller with integral separation is shown via simulation and experiment results, which verifies the two-dimension model of wind pendulum system.