Modeling and Construction of a Furuta Pendulum Prototype

被引：6

作者：

Antonio-Cruz, M. ^{[1
]}

Silva-Ortigoza, R. ^{[1
]}

Merlo-Zapata, C. A. ^{[1
]}

Villarreal-Cervantes, M. G. ^{[1
]}

Munoz-Carrillo, D. ^{[2
]}

Hernandez-Guzman, V. M. ^{[3
]}

机构：

[1] Inst Politecn Nacl, CIDETEC, Area Mecatron, Unidad Profes Adolfo Lopez Mateos, Mexico City 07700, DF, Mexico

[2] CINVESTAV IPN, Dept Control Automat, Mexico City 07360, DF, Mexico

[3] Univ Autonoma Queretaro, Fac Ingn, Queretaro 76150, Qro, Mexico

来源：

2014 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS AND AUTOMOTIVE ENGINEERING (ICMEAE) | 2014年

关键词：

Mechatronics; Underactuated system; Furuta Pendulum; Prototype; Modeling; Mechanical design; Construction; UNDERACTUATED MECHANICAL SYSTEMS;

D O I：

10.1109/ICMEAE.2014.23

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In order to provide a material that can facilitate the modeling and construction of a Furuta pendulum, this paper presents the deduction, step-by-step, of a Furuta pendulum mathematical model by using the Lagrange equations of motion. Later, a mechanical design of the Furuta pendulum is carried out via the software SolidWorks and subsequently a prototype is built. Numerical simulations of the Furuta pendulum model are performed via Matlab-Simulink. Furthermore, the Furuta pendulum prototype built is experimentally tested by using Matlab-Simulink, ControlDesk, and a DS1104 board from dSPACE.

引用

页码：98 / 103

页数：6

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