Modeling and Control of a Nonlinear Dual-Pendulum Energy Harvester Using BLDC Motors and MPPT Algorithm

Nonlinear energy harvesting systems based on multibody structures constitute a promising solution for autonomous devices powered by ambient vibrations. This paper presents the modeling and control of a nonlinear energy harvester employing a double pendulum configuration and BLDC motors operating as generators. The primary objective of the study was to develop a control strategy that enables the maximization of harvested power while simultaneously improving the energy conversion efficiency during the charging of the battery supplying the target system. The developed model incorporates the mechanical equations of motion of the double pendulum, an electrical model of the BLDC motors, and two independently controlled buck–boost converters, each connected to one joint of the pendulum. In addition, a perturb-and-observe (P&O) maximum power point tracking (MPPT) algorithm was implemented, which utilizes a portion of the computational resources of the target system’s microcontroller and allows for dynamic adjustment of the electrical loads seen by the generators. Simulation results obtained in the Simulink environment confirm that the application of independent power converters combined with local MPPT control leads to an increase in the total harvested power and ensures more stable battery charging under conditions of variable mechanical excitation. The obtained results demonstrate the effectiveness of the proposed approach and indicate its potential applicability in self-powered systems operating in environments characterized by irregular and stochastic vibrations.