Año: 2017
Autores: Herrera, D.; Monllor, M.; Carelli, R.;Jan Carstensen ; Wagner, B.;
Resumen: Balancing a rotary inverted pendulum (RIP) is commonly used for testing control algorithms, and the teaching of control chairs. Even when the researchers have proposed multiple model-based control designs over simulation environments, or based on previously identified RIP systems, the practical setup of an experimental prototype has been commonly neglected because the difficulty that represents to identify a multi-variable, unstable, and highly non-linear system. This fact motivates the development of an experimental methodology to set-up a RIP system. For this, a mechanical model based on EulerLagrange is derived, where the inclusion of its actuator system is considered, which consists of a DC-motor model and a PD-lowlevel controller. Later, the proposed model is linearized over the non-stable equilibrium and the design of a balance control based on LQR is proposed. Finally, an experimental methodology to get the balance of an experimental RIP system based on input/output data is proposed, and its good performance is demonstrated with a RIP prototype.
Link: https://ieeexplore.ieee.org/document/8214312