Projeto de identificação e construção de um protótipo baseado no princípio de um pêndulo amortecido controlado por técnicas de alocação polinomial em RST

Abstract

This work presents the development of a stand based on the principle of a damped pendulum on a free metal rail which moves in the horizontal direction. This is a very common system in the studies of the discipline of dynamic systems control. The work describes the steps of identifying a real plant, the digital control design of a controller in the RST topology by pole placement and the performance evaluation of the closed loop system. A variation of the complement filter is implemented to merge the accelerometer data with the gyro data in order to obtain a reliable estimate of the slope angle. The identification presented in this work considers the plant as a linear system invariant in time and restricts the range of operation of the damped pendulum to a limited set of operations. This consideration allows the design of the RST controller. The purpose of the experimental system is to keep the pendulum in equilibrium position even if it may have external disturbances. The complementary filter design and the RST controller algorithm were developed in C language and implemented in a KL25Z microcontroller from the KINETIS family. The plant was duly simulated, assembled and had its model validated by a control strategy.