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Resumen

 

MODELING, DESIGN AND IMPLEMENTATION CONTROL OF SWING UP AND SWINGING OF AN INVERTED ROTARYPENDULUM

MODELADO, DISEÑO E IMPLEMENTACION DEL CONTROL DE SWING UP Y BALANCEO AL PENDULO INVERTIDO ROTACIONAL
MSc. Oscar Oswaldo Rodriguez.
Ing. John Caipa Roldán.
Ing. José Luis Rodríguez.

Abstract: This paper presents the description, simulation and control of one of the non lineal systems more studied for carrying out demonstrations of lineal and non lineal control laws: the Inverted Rotary Pendulum or Furuta Pendulum, which consists on a motor, an arm that rotates in the horizontal plane and a pendulum joined to one of hedges which is able to rotate in the vertical plane freely. The design of a system of lineal control will be presented based on location of poles, with the objective to maintain the pendulum in its point of unstable balance (swinging control); besides the implementation of a law of non lineal control to approach the subproblema of taking the pendulum from its position of rest to invested proximities, to give complete solution to the problem of Swing Up. The non lineal pattern is built in Matlab -Simulink with the purpose of checking the control in simulation then to implement the control on the built prototype.

Keywords : Discrete control, pendulum, s liding mode control, s tate-space.

Resumen: Este artículo presenta la descripción, simulación y control de uno de los sistemas no lineales más estudiados para realizar demostraciones de leyes de control lineales y no lineales: el Péndulo Invertido Rotacional o Péndulo de Furuta, el cual consiste en un motor, un brazo que rota en el plano horizontal y de un péndulo unido a uno sus extremos que es libre de rotar en el plano vertical. Se presentará el diseño de un sistema de control lineal basado en ubicación de polos, con el objetivo de mantener el péndulo en su punto de equilibrio inestable (control de balanceo); además de la implementación de una ley de control no lineal para abordar el subproblema de llevar el péndulo de su posición de reposo a las cercanías de la invertida, para dar solución completa al problema de Swing Up. Se construye el modelo no lineal en Simulink de Matlab con el fin de comprobar el control en simulación para luego implementar el control sobre el prototipo construido.

Palabras clave: Control discreto, péndulo, control modos deslizantes, espacio de estados.