Diseño e implementación de un controlador óptimo LQG, para un sistema de péndulo invertido aplicado en un equipo Lego Mindstorms.
In this work LQG (Linear–Quadratic–Gaussian) and PID (Proportional–Integral–Derivative) controllers are performed, applying to Lego Mindstorms NXT set in two-wheeled inverted pendulum configuration, as a first point the mathematical model of the system is obtained from equations of the state and tra...
| Autor Principal: | Solórzano Peñafiel, Diana Karina |
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| Formato: | bachelorThesis |
| Idioma: | spa |
| Publicado: |
2018
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| Materias: | |
| Acceso en línea: |
http://dspace.ups.edu.ec/handle/123456789/15814 |
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| Sumario: |
In this work LQG (Linear–Quadratic–Gaussian) and PID (Proportional–Integral–Derivative) controllers are performed, applying to Lego Mindstorms NXT set in two-wheeled inverted pendulum configuration, as a first point the mathematical model of the system is obtained from equations of the state and transfer functions for angle and position control. Controllers are designed with equations of state by MATLAB and Simulink software where LQR (Linear–Quadratic Regulator) variable K should be found, and Kalman Filter variable L as an observer, which both together deploy the LQG control; to simulate the PID control, Kp, Ki and Kd compensators values are got to each one of the outputs, variables approach are also performed by heuristic algorithms based on decreasing the error in steady state.
PID and LQG controllers implementation are performed by RobotC software, where gyroscope sensor data is got to control the angle and the signal of the encoders, and for the control of the wheels position. Once the dual controller simulation output signals are got in the real device, PID and LQG controllers values are taken to match the performance of each one of them, maximum overshoot is obtained by these values, settlement time and performance index. IAE (Integral Absolute Error) and ISE (Integrated Squared Error) |
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