Projeto, modelagem, simulação, construção e controle de um veículo de duas rodas pêndulo invertido

Abstract

This work aims to obtain the static equilibrium of the vertical position of an two-wheeled inverted pendulum vehicle using PID controllers obtained through classical techniques as experimental tuning and the root locus method and also using more sophisticated controllers such as the Fuzzy controller . For this, the design of a new two-wheeled vehicle was realized, and its construction is detailed throughout the work. With this vehicle it was possible to obtain good results with the presented control techniques. The nonlinear dynamic model of the two-wheeled inverted pendulum is obtained through the Newton-Euler formulation. Since it is not always possible to keep the vehicle within the linearization conditions, the nonlinear model obtained was used to simulate the vehicle using the 4th order Runge-Kutta method, to obtain a result similar to the actual behavior of the vehicle. After the identification of the vehicle’s parameters, the simulation and real-time responses were compared and using statistical tests with 95% confidence, it was observed that the responses are not different for most the controllers. When designing a controller using the linear model, depending on the vehicle’s operating conditions, this controller might not accomplish the project requirements, so it was also proposed a way to adapt a PID controller obtained by the root locus method to the nonlinear model using the simulation, and a substantial improvement of the controller with adapted parameters was observed.