Modelagem de um drone terrestre de duas rodas e simulação do sistema de controle: estudo de caso

Abstract

The present work focuses on a two-wheeled ground drone for territorial inspection. The objective is to mathematically model a real system composed of three dynamics: wheel dynamics, motor dynamics, and pendulum dynamics, using the inverted pendulum principle. This theme was chosen because the drone can be applied in various situations such as surveillance and security, as well as inspection and recognition of environments to reduce risks to human life in hazardous situations. The dynamic equations of the pendulum components were derived, and due to the lack of technical information about the DC motor, laboratory tests were conducted to gather this information, opting not to neglect the motor’s inductance. Subsequently, the mathematical modeling of the system was carried out in the State-Space format, resulting in a fifth-order model with a double pole at the origin and a real pole in the right semi-plane, indicating an unstable model. To analyze the model, it was necessary to design a proportional, derivative, and integral controller for the plant, meeting predefined design requirements and maintaining plant stability even with the introduction of disturbances in the plant output.