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Diseño, implementación y control de un péndulo invertido rotacional
| Content Provider | Semantic Scholar |
|---|---|
| Author | Mirasol, Morell Javier, Francisco |
| Copyright Year | 2019 |
| Abstract | The inverted pendulum is a classic problem of control theory that consists of an under-rated system whose mission is to maintain a pendulum in equilibrium through the action of a motor. In this work we will show from a practical point of view how an inverted pendulum is and the problems it harbors. For this we have designed our own inverted pendulum which we will assemble and analyze in depth. In the first place, a simulation has been done by means of Simscape Multibody and Simulink, and in order to study its operation and its limitations we will expose it to reference tracking, perturbations and noise. On the other hand, we have made a physical implementation of this same pendulum, which has been tried to be small and economically low price. It will also show in detail how both the simulation and the real pendulum have been mounted. Finally, a second version of the inverted pendulum has been proposed in order to facilitate its control and stabilization, which we will see both in simulation and in physics through certain modifications in the real pendulum. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://riunet.upv.es/bitstream/handle/10251/124248/Morell%20-%20Dise%C3%B1o,%20implementaci%C3%B3n%20y%20control%20de%20un%20p%C3%A9ndulo%20invertido%20rotacional.pdf?isAllowed=y&sequence=1 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
