Pêndulo de Furuta: protótipo e modelagem

Abstract

This work outlines the process of developing, modeling, and prototyping a rotational inverted pendulum, formally known as the Furuta pendulum. The primary aim of this project is to stabilize a rod in the vertical position, signifying the maintenance of its position at its equilibrium point. The mechanical structure of Furuta’s pendulum consists of a vertical pendulum attached to a horizontally positioned rotating arm. The motion of this arm is driven by a Direct Current (DC) motor, and its angular position is measured by a sensor. On the opposite end of the arm, a pendulum is coupled, which rotates vertically. This pendulum contains a rod and an electromechanical sensor (Encoder). The Encoder’s role is to measure the angular position of the rod relative to the reference axis (arm). Specifically, the representation of the rotational inverted pendulum system is established through system modeling using the Euler-Lagrange methodology, leading to nonlinear dynamic equations. Within this context, linearization techniques are applied to obtain a simplified model of the system. Additionally, this paper presents the development and construction of the Furuta pendulum, along with the definition of parameters for the proposed prototype. To illustrate the potential of the prototype, proposals for controllers in the form of pole allocation and Linear Quadratic Regulator (LQR) are also presented in a simulated environment.