Estudio comparativo del desempeño de tres tipos de controladores para el Péndulo Invertido Furuta.
As the Furuta inverted pendulum is a complex, non-linear and unstable system of industrial electronics, the study and analysis of its behavior is made transcendent when different control techniques are applied to stabilize it. In order to apply the controllers, the Furuta pendulum is built, whose de...
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| Autor principal: | |
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| Formato: | bachelorThesis |
| Idioma: | spa |
| Publicado em: |
2018
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| Assuntos: | |
| Acesso em linha: | http://dspace.ups.edu.ec/handle/123456789/15889 |
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Adicionar Tag | Resumo: | As the Furuta inverted pendulum is a complex, non-linear and unstable system of industrial electronics, the study and analysis of its behavior is made transcendent when different control techniques are applied to stabilize it. In order to apply the controllers, the Furuta pendulum is built, whose design can be seen in Figure 3.3, highlighting for this analysis the masses and length of both the arm, pendulum and pendulum mass. With these data we proceeded to obtain the mathematical model and later the system equations. The three types of controllers are: Proportional, Integral, Derivative (PID), Linear Quadratic Regulator (LQR) and Fuzzy. Three types of performance tests were performed, which are two with the use of Swing up and the other deactivating the Swing up, with 20 samples of each test, whose results were stored in a database and later analyzed using the integral of the error absolute (IAE). In conclusion, it can be said that the controls that were best adapted to this built floor are Fuzzy and LQR depending on their initial position. |
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