Modelagem e controle de um aeropêndulo

Abstract

The current work seeks the development of a reference follower with state space feedback applied to an aeropendulum experimental setup of one degree of freedom, actuated by two motor-propellers. The system is modelled through the linearization of the second order ordinary differential equation that represents its dynamic behavior, such model is used for simulating the system. The system parameters identification is carried out with optimization methods using experimental data acquired from the angular position of the pendulum under free dumped vibration. The actuators are modelled with a seventh-degree polynomial function that fit its behavior observed experimentally. Through development, a simpler linear function is used to minimize critical oscillation of the system. The models on hand, a reference follower controller with state space feedback is implemented using auto structure assignment aiming to control the pendulum angular position. The controller is implemented on the experimental workbench using the acquisition board PCI-6602-NI provided by National Instruments integrated with the software MATLAB/Simulink. As the validation method, the controller is applied on the experimental setup, and its results are compared to the simulation response data of the system. The results are satisfactory due to the controller being able to minimize the error of the controlled signal even though it is developed utilizing a linear model of the plant.