Design, modeling and control of a reaction wheel balanced inverted pendulum

"This paper presents the mechatronics design, modeling, simulation, implementation and control of an inverted pendulum by applying controlled torques to a reaction wheel. We present a method for finding an optimal mechanical design of the pendulum and reaction wheel for a given electric motor...

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Autores principales: Belascuen, Gonzalo, Aguilar, Nahuel
Formato: Póster acceptedVersion
Lenguaje:Inglés
Publicado: 2019
Materias:
SISTEMAS DE CONTROL DIGITAL
MOTORES ELECTRICOS
PENDULO
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/1781
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-1781
record_format dspace
spelling I32-R138-123456789-17812022-12-07T15:14:53Z Design, modeling and control of a reaction wheel balanced inverted pendulum Belascuen, Gonzalo Aguilar, Nahuel SISTEMAS DE CONTROL DIGITAL MOTORES ELECTRICOS PENDULO "This paper presents the mechatronics design, modeling, simulation, implementation and control of an inverted pendulum by applying controlled torques to a reaction wheel. We present a method for finding an optimal mechanical design of the pendulum and reaction wheel for a given electric motor and wheel diameter that maximizes the recovery angle. This paper also describes which parameters to look for during the electric motor selection as well as a method for simulating and comparing the performance of different motors. Finally the real system implementation is described and its performance is compared with simulation. The final design is 34 centimeters tall and can stabilize after being released from an angle of 26 degrees from the vertical. This work was carried out within an undergraduate course on Digital Control Systems at Instituto Tecnológico de Buenos Aires." "Este trabajo presenta el diseño mecatronico, modelado, simulación, implementación y control de un pèndulo invertido balanceado con una rueda de inercia. Se presenta un método para encontrar un diseño mecánico óptimo de la rueda de inercia para un dado motor eléctrico y diámetro de la rueda que maximiza la estabilidad contra disturbios externos. Este trabajo también describe qué parámetros son de importancia a la hora de seleccionar un motor y provee un método para comparar diferentes motores. La implementación del sistema real es descripta y finalmente se compara el desempeño del sistema real con el simulado. El diseño final mide 34 centimetros de alto y puede estabilizarse después de ser liberado de un ángulo de 26 grados con respecto a la vertical. Este trabajo fue realizado durante un curso de grado de Control Discreto en el Instituto Tecnológico de Buenos Aires." 2019-10-02T18:56:59Z 2019-10-02T18:56:59Z 2019 Póster info:eu-repo/semantics/acceptedVersion http://ri.itba.edu.ar/handle/123456789/1781 en info:eu-repo/semantics/altIdentifier/doi/10.1109/ARGENCON.2018.8646093 application/pdf
institution Instituto Tecnológico de Buenos Aires (ITBA)
institution_str I-32
repository_str R-138
collection Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA)
language Inglés
topic SISTEMAS DE CONTROL DIGITAL
MOTORES ELECTRICOS
PENDULO
spellingShingle SISTEMAS DE CONTROL DIGITAL
MOTORES ELECTRICOS
PENDULO
Belascuen, Gonzalo
Aguilar, Nahuel
Design, modeling and control of a reaction wheel balanced inverted pendulum
topic_facet SISTEMAS DE CONTROL DIGITAL
MOTORES ELECTRICOS
PENDULO
description "This paper presents the mechatronics design, modeling, simulation, implementation and control of an inverted pendulum by applying controlled torques to a reaction wheel. We present a method for finding an optimal mechanical design of the pendulum and reaction wheel for a given electric motor and wheel diameter that maximizes the recovery angle. This paper also describes which parameters to look for during the electric motor selection as well as a method for simulating and comparing the performance of different motors. Finally the real system implementation is described and its performance is compared with simulation. The final design is 34 centimeters tall and can stabilize after being released from an angle of 26 degrees from the vertical. This work was carried out within an undergraduate course on Digital Control Systems at Instituto Tecnológico de Buenos Aires."
format Póster
acceptedVersion
author Belascuen, Gonzalo
Aguilar, Nahuel
author_facet Belascuen, Gonzalo
Aguilar, Nahuel
author_sort Belascuen, Gonzalo
title Design, modeling and control of a reaction wheel balanced inverted pendulum
title_short Design, modeling and control of a reaction wheel balanced inverted pendulum
title_full Design, modeling and control of a reaction wheel balanced inverted pendulum
title_fullStr Design, modeling and control of a reaction wheel balanced inverted pendulum
title_full_unstemmed Design, modeling and control of a reaction wheel balanced inverted pendulum
title_sort design, modeling and control of a reaction wheel balanced inverted pendulum
publishDate 2019
url http://ri.itba.edu.ar/handle/123456789/1781
work_keys_str_mv AT belascuengonzalo designmodelingandcontrolofareactionwheelbalancedinvertedpendulum
AT aguilarnahuel designmodelingandcontrolofareactionwheelbalancedinvertedpendulum
_version_ 1765661096291598336

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