Modelagem, identificação e controle de um pêndulo invertido de duas rodas

• Ano de defesa: 2020
• Autor(a) principal: Chaves, Wagner de Souza
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Tecnológica Federal do Paraná; Cornelio Procopio; Brasil; Programa de Pós-Graduação em Engenharia Mecânica; UTFPR
• Palavras-chave em Português: Pêndulo; Engenharia de protótipos; Equilíbrio; Pendulum; Prototypes, Engineering; Equilibrium; x; Engenharia Mecânica
• Link de acesso: http://repositorio.utfpr.edu.br/jspui/handle/1/5428

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.