Modelagem, identificação e controle de um pêndulo invertido de duas rodas
This dissertation presents the construction of a two-wheeled inverted pendulum educational board, as well as its virtual prototyping using the MSC ADAMS software. Through this tool it was possible to study and simulate the dynamic behavior of this unstable, multivariable and nonlinear system. The ma...
| Autor: | |
|---|---|
| Tipo de recurso: | tesis de maestría |
| Estado: | Versión publicada |
| Fecha de publicación: | 2020 |
| País: | Brasil |
| Institución: | Universidade Tecnológica Federal do Paraná (UTFPR) |
| Repositorio: | Repositório Institucional da UTFPR (da Universidade Tecnológica Federal do Paraná (RIUT)) |
| Idioma: | portugués |
| OAI Identifier: | oai:repositorio.utfpr.edu.br:1/5428 |
| Acceso en línea: | http://repositorio.utfpr.edu.br/jspui/handle/1/5428 |
| Access Level: | acceso abierto |
| Palabra clave: | Pêndulo Engenharia de protótipos Equilíbrio Pendulum Prototypes, Engineering Equilibrium x Engenharia Mecânica |
| Sumario: | This dissertation presents the construction of a two-wheeled inverted pendulum educational board, as well as its virtual prototyping using the MSC ADAMS software. Through this tool it was possible to study and simulate the dynamic behavior of this unstable, multivariable and nonlinear system. The mathematical model to represent the system dynamics was derived using Newton-Euler method. Then, balance and direction controllers were designed to make the robot travel through a path while it balances by itself. The robust control technique H∞ via LMI was used and unstructured uncertainties were considered in the mathematical model of the system. Finally, the designed controller was applied to the virtual prototype using co-simulation between MSC ADAMS and MATLAB/Simulink and the results were compared with the control applied in the mathematical model. Once validated, the control system was applied to the real prototype. |
|---|