TY - GEN
T1 - Modeling and Construction of an Inertia Wheel Pendulum Test-Bed
AU - Merlo-Zapata, C. A.
AU - Antonio-Cruz, M.
AU - Silva-Ortigoza, R.
AU - Taud, H.
AU - Rivera-Zarate, I.
AU - Muñoz-Carrillo, D.
AU - Hernández-Guzmán, V. M.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014
Y1 - 2014
N2 - This paper presents the detailed deduction of an inertia wheel pendulum (IWP) mathematical model, through the Lagrange equations of motion. Also, a mechanical design and the construction of the IWP are introduced step by step. This with the purpose of providing a material that can be useful in the easy comprehension of an IWP mathematical model and to accomplish the construction of an IWP in a relatively short time. The mechanical design is carried out by using the software Solid Works. Moreover, numerical simulations of the deduced mathematical model are performed via Mat lab-Simulink. Furthermore, in order to verify that the IWP built behaves according to the mathematical model herein deduced, experimental tests are carried out by using such an IWP, Mat lab-Simulink, Control Desk, and a DS1104 board from d SPACE.
AB - This paper presents the detailed deduction of an inertia wheel pendulum (IWP) mathematical model, through the Lagrange equations of motion. Also, a mechanical design and the construction of the IWP are introduced step by step. This with the purpose of providing a material that can be useful in the easy comprehension of an IWP mathematical model and to accomplish the construction of an IWP in a relatively short time. The mechanical design is carried out by using the software Solid Works. Moreover, numerical simulations of the deduced mathematical model are performed via Mat lab-Simulink. Furthermore, in order to verify that the IWP built behaves according to the mathematical model herein deduced, experimental tests are carried out by using such an IWP, Mat lab-Simulink, Control Desk, and a DS1104 board from d SPACE.
KW - Construction
KW - Inertia Wheel Pendulum
KW - Mechanical design
KW - Mechatronics
KW - Modeling
KW - Prototype
KW - Underactuated system
UR - http://www.scopus.com/inward/record.url?scp=84929250667&partnerID=8YFLogxK
U2 - 10.1109/ICMEAE.2014.24
DO - 10.1109/ICMEAE.2014.24
M3 - Contribución a la conferencia
AN - SCOPUS:84929250667
T3 - Proceedings - 2014 IEEE International Conference on Mechatronics, Electronics, and Automotive Engineering, ICMEAE 2014
SP - 116
EP - 121
BT - Proceedings - 2014 IEEE International Conference on Mechatronics, Electronics, and Automotive Engineering, ICMEAE 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Mechatronics, Electronics, and Automotive Engineering, ICMEAE 2014
Y2 - 18 November 2014 through 21 November 2014
ER -