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...
Guardado en:
| Autores principales: | , |
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| Formato: | Póster acceptedVersion |
| Lenguaje: | Inglés |
| Publicado: |
2019
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| Materias: | |
| Acceso en línea: | http://ri.itba.edu.ar/handle/123456789/1781 |
| Aporte de: |
| Sumario: | "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." |
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