Publication: CONTROL DE LEVANTAMIENTO Y ESTABILIZACIÓN DE UN PÉNDULO CON RUEDA VOLANTE
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Date
2017
Authors
MENESES VEGA, DAVID ALBERTO
NAVARRO CASTILLO, JAVIER ARMANDO
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Abstract
El fin de este proyecto de investigación es diseñar un controlador PID capaz deestabilizar un Péndulo de Rueda Volante (PRV) en la posición vertical inestable. Paralograrlo, previamente debe haber un control primario que haga a este mismo péndulooscilar hasta llegar a la posición deseada, para que luego el esquema de control estabilizadorle permita al sistema mantenerse en la posición deseada.Inestabilidad interna, diseño de controlador PID, diseño de controlador PI, controlde levantamiento por energías y su diseño teórico y práctico serán los temas abordadosen mayor detalle, así como la instrumentación para llevarlo a cabo.
The research project purpose is to design a PID controller capable to estabilize aflywheel inverted pendulum in an unstable equilibrium point in the upper position. Toacomplish this goal, previusly it must have a primary control to make these pendulumswinging-up and bring it up to unstable equilibrium point in the upper position. later,the estabilizer control schema let to the system mantain th desired position.Internal Unstability, PID controller design, PI controller design, swinging-up thependulum by energy strategy and considering a theorical and practical design will bethe aborded topics with a deeper details, as well as the instrumentation to develop it.
The research project purpose is to design a PID controller capable to estabilize aflywheel inverted pendulum in an unstable equilibrium point in the upper position. Toacomplish this goal, previusly it must have a primary control to make these pendulumswinging-up and bring it up to unstable equilibrium point in the upper position. later,the estabilizer control schema let to the system mantain th desired position.Internal Unstability, PID controller design, PI controller design, swinging-up thependulum by energy strategy and considering a theorical and practical design will bethe aborded topics with a deeper details, as well as the instrumentation to develop it.
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Catalogado desde la version PDF de la tesis.
Keywords
CONTROL PI , CONTROL PID , ESQUEMA DE CONTROL , FILTRO PARA ESTABILIDAD INTERNA , LABVIEW , PENDULO DE RUEDA VOLANTE , PWM , TEOREMA DE LYAPUNOV