TY - GEN
T1 - Modeling, simulation, and construction of a furuta pendulum test-bed
AU - Antonio-Cruz, Mayra
AU - Silva-Ortigoza, Ramón
AU - Sandoval-Gutiérrez, Jacobo
AU - Merlo-Zapata, Carlos Alejandro
AU - Taud, Hind
AU - Márquez-Sánchez, Celso
AU - Hernández-Guzman, Victor Manuel
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/15
Y1 - 2015/4/15
N2 - This paper presents a Furuta pendulum as a test-bed 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.
AB - This paper presents a Furuta pendulum as a test-bed 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.
UR - http://www.scopus.com/inward/record.url?scp=84929240699&partnerID=8YFLogxK
U2 - 10.1109/CONIELECOMP.2015.7086928
DO - 10.1109/CONIELECOMP.2015.7086928
M3 - Contribución a la conferencia
AN - SCOPUS:84929240699
T3 - 25th International Conference on Electronics, Communications and Computers, CONIELECOMP 2015
SP - 72
EP - 79
BT - 25th International Conference on Electronics, Communications and Computers, CONIELECOMP 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 25th International Conference on Electronics, Communications and Computers, CONIELECOMP 2015
Y2 - 25 February 2015 through 27 February 2015
ER -