Pósters

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http://ri.itba.edu.ar/handle/123456789/2474

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Browsing Pósters by Author "Belascuen, Gonzalo"

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    Design, modeling and control of a reaction wheel balanced inverted pendulum
    (2019) Belascuen, Gonzalo; Aguilar, Nahuel
    "This paper presents the mechatronics design, modeling, simulation, implementation and control of an inverted pendulum by applying controlled torques to a reaction wheel. We present a method for finding an optimal mechanical design of the pendulum and reaction wheel for a given electric motor and wheel diameter that maximizes the recovery angle. This paper also describes which parameters to look for during the electric motor selection as well as a method for simulating and comparing the performance of different motors. Finally the real system implementation is described and its performance is compared with simulation. The final design is 34 centimeters tall and can stabilize after being released from an angle of 26 degrees from the vertical. This work was carried out within an undergraduate course on Digital Control Systems at Instituto Tecnológico de Buenos Aires."
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    Péndulo invertido balanceado con una rueda de inercia
    (2018) Belascuen, Gonzalo; Aguilar, Nahuel
    "En este proyecto estabilizamos un péndulo invertido en la posición vertical utilizando una rueda de inercia accionada por un motor eléctrico. Este motor es controlado mediante un puente H por un microcontrolador, que mide la posición y velocidad del péndulo y la rueda con encoders. Con estas mediciones, calcula y actualiza 20 veces por segundo el voltaje que debe aplicar al motor para mantener el péndulo vertical."