Implementação de um sistema de controle de um pêndulo invertido

Abstract

The use of automatic control systems is found to be fully spread out through our daily use in all the developed societies. Such systems work as catalyzing elements to promote the progress and development. The example of the Inverted Pendulum system is largely mentioned in books and technical articles about feedback control loops, especially those intrinsically unstable, just like in this work. The reason why such system is relevant for control system studies is that it illustrates the difficulties associated with the application of control systems in the real world. For example, the final model is much similar to those used for rockets stabilization, positioning of special cranes, etc. This study sought to create an inverted pendulum control system using simple analog components, one practical application which allows the testing and benchmarking of different control strategies. For this purpose a prototype was build using an old personal computer printer frame. All the necessary electronic circuits were designed, mounted and tested using next-door shop components. As a platform for developing the control algorithms, a personnel microcomputer was required. Also a simulation and control software largely utilized by Universities and technical schools was used. For interfacing the computer to the electronics there was been used a low-cost commercial data acquisition board. In modeling the system and in the control loop tuning phase, there had been used known methods of the control theory. The practical results achieved were good enough indicating the strength of the proposal of this present work.