Desenvolvimento de um módulo didático pêndulo invertido rotacional para o estudo de análise e controle de sistema dinâmico

Abstract

In the context of current vocational education, in some cases, there is a scarcity of resources for learning practical concepts in engineering areas, especially in the area of control and automation. This is due to the high cost of equipment and teaching modules available on the market, which make them inaccessible or unfeasible for most institutions to acquire as tools for teaching use. Amidst the acquisition difficulties, the need to complement professional knowledge and the multiplicity of concepts added to the inverted pendulum, the advantage of creating replicable didactic modules of this system for the development and teaching in the area of control and automation is seen. Given this scenario, this work proposes the development of a didactic module inverted rotational pendulum, or also known as Furuta's pendulum. The mathematical modeling of the system and the implementation of classical control techniques of the PID family will also be addressed, followed by analysis and validation of the results considering the practical responses of the system.