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Resumen

 

DEVELOPMENT AND CONTROL OF AN INVERTED PENDULUM WITH HYDRAULIC ACTUATORS

DESARROLLO Y CONTROL DE UN PENDULO INVERTIDO DE ACCIONAMIENTO HIDRAULICO
Ing. Reagan Archila Torres.
MSc. Katty María Cantero Vergara.
MSc. John Faber Archila Díaz.


Abstract: This article presents the design, construction and control of an inverted pendulum hydraulic driven. The main purpose of this system is to generate and control mechatronic fluctuating loads in any angular position, the work was developed in two stages the first of design and the second of implementation; for stage design tools were used CAD (Computer Aided Design) and CAE (Computer - Aided-Engineering) in the implementation stage is developing the physical-mechanical model, together with the installation of an electrohydraulic system accompanied by a power stage, responsible for amplifying the control signal of the pendulum position and finally This set is automated, from an acquisition system, control and data monitoring (SCADA), the validation system begin from a set-point given by the user through the graphical interface of SCADA, acting on the hydraulic system and this operate the pendulum.

Keywords : Inverted pendulum, mechatronic system, mechanical design, hydraulics, electronics, industrial automation.

Resumen: En el presente artículo se presenta el diseño, construcción y control de un péndulo invertido de accionamiento hidráulico. El propósito principal de este sistema mecatrónico es generar y controlar cargas fluctuantes en cualquier posición angular; el trabajo se desarrollo en dos etapas: la primera de diseño y la segunda de implementación; para la etapa de diseño se utilizaron herramientas CAD (Computer Aided Design) y CAE (Computer - Aided- Engineering), en la etapa de implementación se construyo el modelo físico-mecánico, junto con el montaje de un sistema electrohidráulico acompañado de una etapa de potencia, encargada de amplificar la señal de control de posición del péndulo; finalmente éste conjunto se automatiza, a partir de un sistema de adquisición, control y supervisión de datos (SCADA), el cual posiciona el sistema validando un set-point dado por el usuario a través de la interfaz grafica del SCADA, actuando sobre el sistema hidráulico y éste a su vez sobre el péndulo.

Palabras clave: Péndulo invertido, sistema mecatrónico, diseño mecánico, hidráulica, electrónica, automatización industrial.