TRABALHOS DE FIM DE CURSO @PUC-Rio
| Título: | DESIGN, SIMULATION AND CONTROL OF A SELFBALANCING MOBILE ROBOT | ||||||||||||
| Autor(es): |
JOAO VITOR AMARANTE FRANCO ZILIANI |
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| Colaborador(es): |
MARCO ANTONIO MEGGIOLARO - Orientador |
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| Catalogação: | 08/JUL/2020 | Língua(s): | PORTUGUESE - BRAZIL |
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| Tipo: | TEXT | Subtipo: | SENIOR PROJECT | ||||||||||
| Notas: |
[pt] Todos os dados constantes dos documentos são de inteira responsabilidade de seus autores. Os dados utilizados nas descrições dos documentos estão em conformidade com os sistemas da administração da PUC-Rio. [en] All data contained in the documents are the sole responsibility of the authors. The data used in the descriptions of the documents are in conformity with the systems of the administration of PUC-Rio. |
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| Referência(s): |
[pt] https://www.maxwell.vrac.puc-rio.br/projetosEspeciais/TFCs/consultas/conteudo.php?strSecao=resultado&nrSeq=48927@1 [en] https://www.maxwell.vrac.puc-rio.br/projetosEspeciais/TFCs/consultas/conteudo.php?strSecao=resultado&nrSeq=48927@2 |
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| DOI: | https://doi.org/10.17771/PUCRio.acad.48927 | ||||||||||||
| Resumo: | |||||||||||||
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This work deals with the application of control to an inverted pendulum system under two wheels. The work begins with the introduction to the inverted pendulum and the motivation to understand its dynamics. It follows with the theoretical foundation that allows the mathematical modeling as well as the control techniques used. With the clarified theory is shown step by step to obtain the equation of the system dynamics to perform the simulations. In the penultimate section of the paper, the results obtained
for each of the simulations and initial conditions are discussed. The main conclusions of the work developed are that linear controls are able to control highly non-linear systems, but to optimize the correction time for the slope, which is the main problem, it is necessary to apply gain optimization techniques since the correction time is essential for the proper functioning of the equipment.
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