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Cubli: Dynamic Control of a Reaction Wheel Inverted Pendulum
dc.contributor.advisor | José Prieto, Miguel Ángel | |
dc.contributor.author | Villarmarzo Arruñada, Noelia | |
dc.contributor.author | Skov Vestergaard, Niels | |
dc.contributor.author | Sander, Mikael | |
dc.contributor.author | Brèhin, Julien | |
dc.contributor.author | Kitz, Bjørn | |
dc.contributor.other | Ingeniería Eléctrica, Electrónica, de Computadores y Sistemas, Departamento de | spa |
dc.date.accessioned | 2016-07-11T08:07:15Z | |
dc.date.available | 2016-07-11T08:07:15Z | |
dc.date.issued | 2016 | |
dc.identifier.uri | http://hdl.handle.net/10651/38322 | |
dc.description.abstract | The inverted pendulum is used in many applications and it is a classic research area in control theory which is still ac- tive. The aim of this project was to model and analyze the behavior of a reaction wheel inverted pendulum, in the form of a one-frame Cubli; and to design a controller capable of balancing it in equilibrium position. A controller was designed using classi- cal control methods such as root locus and Nyquist criterion. However, the system had a marginally stable behav- ior. Not having control of the velocity of the reaction wheel was a problem, so the final controller was done through state space design. Moreover, a solution for measuring its angular position using only internally mounted sensors was designed to be able to make it portable to a full Cubli. Finally, the performance of the system was tested on the prototype to ensure that it fulfills the needed requirements | spa |
dc.format.extent | 151 p. | spa |
dc.language.iso | eng | spa |
dc.publisher | Noelia Villarmarzo Arruñada | spa |
dc.relation.ispartofseries | Grado en Ingeniería Electrónica Industrial y Automática | |
dc.rights | CC Reconocimiento - No comercial - Sin obras derivadas 4.0 Internacional | |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | |
dc.subject | Cubli | spa |
dc.subject | Reaction wheel | spa |
dc.subject | Inverted pendulum | spa |
dc.subject | Complementary filter | spa |
dc.subject | State space | spa |
dc.subject | Root locus | spa |
dc.subject | Filtro complementario | spa |
dc.subject | Espacio de estados | spa |
dc.subject | Lugar de las raíces | spa |
dc.subject | Péndulo invertido | spa |
dc.title | Cubli: Dynamic Control of a Reaction Wheel Inverted Pendulum | spa |
dc.title.alternative | Cubli: Control dinámico de un péndulo invertido con rueda de reacción | spa |
dc.type | bachelor thesis | spa |
dc.rights.accessRights | open access |
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