Publicação
Design and development of a low-cost inverted pendulum for education
| Resumo: | Automatic control is present in our daily lives, for example, in elevators, factories, or even toasters and cruise control. The aim of this project is to develop a controller to bal- ance a pendulum on top of a cart with the minimum possible deviation from the vertical position, a system which is often used to represent non-linear systems. To this end, the system was modeled, using Newton’s second law and Lagrange’s equations, in order to find the equations of motion. Then, using Matlab and Simulink, a digital model of the system was implemented, with the LQR, LQG and MPC controllers being tested sepa- rately. The two main steps in the process are reaching the vertical position and stabilizing the pendulum. In the final phase, a 3D printer was controlled, showing its potential as an implementation of the system. |
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| Autores principais: | Ferreira, Gonçalo Marques |
| Assunto: | Inverted pendulum non linear control LQR Kalman filter MPC |
| Ano: | 2022 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade Nova de Lisboa |
| Idioma: | inglês |
| Origem: | Repositório Institucional da UNL |
| Resumo: | Automatic control is present in our daily lives, for example, in elevators, factories, or even toasters and cruise control. The aim of this project is to develop a controller to bal- ance a pendulum on top of a cart with the minimum possible deviation from the vertical position, a system which is often used to represent non-linear systems. To this end, the system was modeled, using Newton’s second law and Lagrange’s equations, in order to find the equations of motion. Then, using Matlab and Simulink, a digital model of the system was implemented, with the LQR, LQG and MPC controllers being tested sepa- rately. The two main steps in the process are reaching the vertical position and stabilizing the pendulum. In the final phase, a 3D printer was controlled, showing its potential as an implementation of the system. |
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