Lovi, Alex (2020) Desarrollo de un sistema de péndulo invertido para evaluación de estrategias de control avanzado / Development of an inverted pendulum system to evaluate advanced control strategies. Maestría en Ingeniería, Universidad Nacional de Cuyo, Instituto Balseiro.
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Resumen en español
En este trabajo se modeló, construyó, identificó y estabilizó un péndulo invertido móvil sobre ruedas utilizando distintos tipos de controladores óptimos. La formulación del modelo no lineal se deduce a partir de principios físicos utilizando el método de Euler-Lagrange. A partir de un estudio del sistema se realizó un diseño eléctrico y mecánico preliminar. Luego se construyó el sistema físico y se realizó la identificación paramétrica del mismo. Se diseñaron cuatro tipos de controladores óptimos: LQR, LQG, H_2 y H_∞. Estos controladores fueron validados por simulación y luego implementados en el sistema real. Todos los controladores logran estabilizar el péndulo invertido en su posición de equilibrio inestable. Finalmente, se realizó un estudio y comparación de la robustez y limitaciones de cada uno de los controladores.
Resumen en inglés
In this thesis, a two-wheeled inverted pendulum is modeled, built, identified and stabilized using several optimal control strategies. The nonlinear model is deduced from first principles using Euler-Lagrange's equation. After studying the system a mechanical and electrical design was done. We built the system and performed a parametric system identification. We designed four types of optimal controllers: LQR, LQG, H_2 and H_∞. These controllers were validated by simulation and then implemented in the real system. All the controllers stabilize the inverted pendulum in its unstable equilibrium point. Finally, we studied and compared the robustness and limitations of each controller.
| Tipo de objeto: | Tesis (Maestría en Ingeniería) |
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| Palabras Clave: | Optimal control; Control óptimo; Servomechanisms; Servomecanismos; [Inverted pendulum; Péndulo invertido; Robust control; Control robusto; System identification; Identificación de sistemas; Robotics; Robótica] |
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| Materias: | Ingeniería |
| Divisiones: | Gcia. de área de Investigación y aplicaciones no nucleares > Laboratorio de investigación aplicada en Telecomunicaciones |
| Código ID: | 987 |
| Depositado Por: | Marisa G. Velazco Aldao |
| Depositado En: | 12 Oct 2021 15:52 |
| Última Modificación: | 12 Oct 2021 15:58 |
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