| Author | Imthishan, Mohamed Thasleem Mohamed |
| Call Number | Swing up and balancing of a reaction wheel inverted pendulum |
| Note | A thesis submitted in partial fulfillment of the requirements for the
degree of Master of Engineering in
Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | Working with automatic control algorithms, often it is subjected to real implementation to test the validity of the algorithms. One such system that often used in control systems studies is an inverted pendulum system. This report presents the Reaction wheel inverted pendulum system modeling, virtual simulation of the model with several controllers and the real physical system implementation and control of the model. Controllers tested in the experiments include Bang-bang/Energy controller for the swing up routine of the pendulum, PID controller and LQR controller are implemented to balancing the pendulum. Finally the report concludes with the drawn conclusions of the differences between these control algorithms and the deviation of the physical system behavior from the virtual
simulation. Report also discusses the reasons for the deviation of the physical system from the simulation and further possible improvements to the algorithms in order to increase the degree of control.
|
| Year | 2015 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Mongkol Ekpanyapon;Bohez, Erik L. J. ; |
| Scholarship Donor(s) | AIT Fellowship; |
| Degree | Thesis (M. Eng.) -- Asian Institute of Technology, 2015 |