CBL - Campus del Baix Llobregat

Projecte llegit

Títol: Estudio y control de un péndulo invertido

Estudiants que han llegit aquest projecte:

Director/a: MONTORO LÓPEZ, GABRIEL

Departament: TSC

Títol: Estudio y control de un péndulo invertido

Data inici oferta: 13-06-2024     Data finalització oferta: 13-02-2025


Estudis d'assignació del projecte:
    DG ENG AERO/SIS TEL
Tipus: Individual
 
Lloc de realització: EETAC
 
Paraules clau:
Péndulo invertido, Sistema realimentado, Ponderaciones PID, Equilibrio de fuerzas
 
Descripció del contingut i pla d'activitats:
El control de un péndulo es un problema standard en teoría de control, equivalente al control de equilibrio de un robot bípedo, y a otros problemas comunes en control de estructuras mecánicas.
 
Overview (resum en anglès):
Lately, the inverted pendulum has remained one of the most emblematic and challenging problems of the control theory, being frequently used as a playground for experimental nonlinear and unstable systems. Because of its nature, with the center of mass over the pivot point, the pendulum is a system that needs precise control and fast correction to maintain the equilibrium when a disturbance appears.

The work focuses on designing and building a PID (Proportional-Integral-Derivative) controller to stabilize the inverted pendulum placed on top of a mobile base. The document deals with both the theoretical analysis and the model of the system, the electronics, and software needed for the its working.

The study finishes with the real implementation of the system, checking how good it works and tuning its parameters in real time using monitoring and data visualization tools. Match the results to the theory, to get the pendulum well damped and fast, but still stable and with zero error, as a basis for future work and investigations in the general area of automatic control of nonlinear systems.

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