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Inverted Pendulum Demonstrator

Sonic, Vlada (2019) Inverted Pendulum Demonstrator. Integration Project, Industrial Engineering and Management.

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Abstract

Throughout the years, the Inverted Pendulum allowed Control Systems Engineers to test most of the Classical as well as Innovative Control Theories in its settings due to its real-life applications and fast, insightful response. University of Groningen wants to test the behaviour of the Inverted Pendulum by use of Bachelor taught models of control in a new system setting. As the system is a highly unstable and non-linear one, it is considered as complex. The core of the thesis lies in embedding the electrical and mechanical components to work together. Based on the processing of the readouts from the sensors, the control law runs on the dSPACE Hardware and reacts to changes by driving the DC-motor forward or backward. External factors such as friction are expected to affect the performance of the system. In this thesis the LQR current as well as voltage control of the DC-motor are implemented to bring the system to the desired upward location of the pendulum. The control law was obtained in MATLAB and implemented in Simulink. The paper includes hardware and system description, state-space representations, transfer-function derivation, analysis of the dynamics of the system, simulations, validation, performance comparison of the chosen methods and limitations. Due to the non-linearity of the setup, the simulated results differ from the real-life experiments. The testing phase resulted in success and in an upward stability of the pendulum.

Item Type: Thesis (Integration Project)
Supervisor:
Supervisor nameSupervisor E mail
Stokroos, M.M.Stokroos@rug.nl
Degree programme: Industrial Engineering and Management
Thesis type: Integration Project
Language: English
Date Deposited: 17 Jul 2019
Last Modified: 17 Jul 2019 14:33
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/20288

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