Modeling and Construction of an Inertia Wheel Pendulum Test-Bed

Merlo-Zapata, Carlos Alejandro; Antonio-Cruz, Mayra; Silva‐Ortigoza, Ramón; Taud, Hind; Rivera-Zárate, Israel; Muñoz-Carrillo, D.; Hernández-Guzmán, Victor Manuel

doi:10.1109/icmeae.2014.24

Cited by 3 publications

(1 citation statement)

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“…It is important to mention that the design of the Furuta pendulum test-bed was carried out in such a way that another configuration of pendulum can be set (see [18]). …”

Section: ) DC Motor and Encodersmentioning

confidence: 99%

Modeling, simulation, and construction of a furuta pendulum test-bed

Antonio-Cruz

Silva‐Ortigoza

Sandoval-Gutierrez

et al. 2015

2015 International Conference on Electronics, Communications and Computers (CONIELECOMP)

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This paper presents a Furuta pendulum as a testbed to experimentally validate automatic control strategies or theoretical concepts associated with nonlinear systems. Herein, the modeling, simulation, and construction of a Furuta pendulum test-bed are introduced step-by-step. The development of the Furuta pendulum mathematical model is achieved by using Lagrange equations of motion. In contrast with other works, the development of this model includes an analysis of the system kinematics. Also, a numerical simulation of the mathematical model is performed via Matlab-Simulink. Furthermore, with the purpose of presenting a different tool for the modeling and simulation of dynamic systems, a graphical model and a graphical simulation of the Furuta pendulum are carried out by means of Working Model 3D. Moreover, a computer aided design of the system under study is accomplished through SolidWorks, based on such a design a test-bed is built. With the intention of verifying that the test-bed built behaves according to the models (numerical one and graphical one) presented herein, experiments with the test-bed in open-loop are carried out by using Matlab-Simulink, ControlDesk, and a DS1104 board from dSPACE.978-1-4799-7436-8/15/$31.00 ©2015 IEEE 978-1-4799-7436-8/15/$31.00 ©2015 IEEE

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“…It is important to mention that the design of the Furuta pendulum test-bed was carried out in such a way that another configuration of pendulum can be set (see [18]). …”

Section: ) DC Motor and Encodersmentioning

confidence: 99%