Publication: Sistema de control para un modelo de bicicleta estable de forma autónoma
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2011-10
Defense date
2011-10-13
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Abstract
El trabajo realizado en el siguiente proyecto fin de carrera ha consistido en analizar la estabilidad de un vehículo formado por dos ruedas eliminando el efecto giroscópico y dotarle de autonomía para corregir su inestabilidad. En primer lugar tomamos un modelo de una bicicleta para poder analizar su estabilidad y comprobar realmente que el efecto giroscópico se puede eliminar; una vez analizado este punto y comprobado que dicho efecto queda totalmente anulado pasamos a realizar un control sobre la dirección de dicha bicicleta y sobre su ángulo de caída. La información del ángulo de caída la obtendremos mediante un sensor giróscopo instalado en la bicicleta de tal forma que podremos obtener la velocidad angular con la que la bicicleta se cae e integrando dicha velocidad angular obtendremos el ángulo de caída sobre el que nalmente ejerceremos el control. Al llegar a este punto se nos plantea un sistema MIMO (Multi Input Multi Output), es decir, un sistema de varias entradas y varias salidas, realizamos un control con realimentación negativa utilizando reguladores PID, todo ello utilizando la herramienta de cálculo matemático MatLab y Simulink. Finalmente logramos obtener las gráfi cas de control sobre la dirección de la bicicleta y el ángulo de caída de la misma, logrando un control prácticamente perfecto teniendo en cuenta la gran inestabilidad de un vehículo formado por dos ruedas. Por último, también se intentó utilizar una plataforma de LEGO NXT MINDSTORM para poder comprobar el funcionamiento de dicha bicicleta en un prototipo a escala; lo cual veremos no resultó factible. __________________________________________________________________________________________________________________________
The work realized in the following project end of career has consisted of analyzing the stability of a vehicle formed by two wheels eliminating the gyroscopic eff ect and to provide him with autonomy to correct his instability. First we take a model of a bicycle to be able to analyze his stability and verify really that the gyroscopic e ffect can be eliminated; once analyzed this point and veri ed that the above mentioned effect remains totally annulled we happen to realize a control on the direction of the above mentioned bicycle and on his angle of fall. The information of the angle of fall will be obtained by us by means of a sensor gyroscope installed in the bicycle in such a way that we will be able to obtain the angular speed with which the bicycle falls and integrating the above mentioned angular speed we will obtain the angle of fall on which fi nally we will exercise the control. On having come to this point us there appears a system MIMO (Multi Input Multi Output), that is to say, a system of several income and several exits, we realize a control with negative feedback using regulators PID, all this using the tool of mathematical calculation MatLab and Simulink. Finally we manage to obtain the graphs of control on the direction of the bicycle and the angle of fall of the same one, achieving a control practically perfectly having in it counts the great instability of a vehicle formed by two wheels. Finally, also one try to use LEGO's platform NXT MINDSTORM for being able to verify the functioning of the above mentioned bicycle in a prototype to scale; which we will see I do not turn out to be feasible.
The work realized in the following project end of career has consisted of analyzing the stability of a vehicle formed by two wheels eliminating the gyroscopic eff ect and to provide him with autonomy to correct his instability. First we take a model of a bicycle to be able to analyze his stability and verify really that the gyroscopic e ffect can be eliminated; once analyzed this point and veri ed that the above mentioned effect remains totally annulled we happen to realize a control on the direction of the above mentioned bicycle and on his angle of fall. The information of the angle of fall will be obtained by us by means of a sensor gyroscope installed in the bicycle in such a way that we will be able to obtain the angular speed with which the bicycle falls and integrating the above mentioned angular speed we will obtain the angle of fall on which fi nally we will exercise the control. On having come to this point us there appears a system MIMO (Multi Input Multi Output), that is to say, a system of several income and several exits, we realize a control with negative feedback using regulators PID, all this using the tool of mathematical calculation MatLab and Simulink. Finally we manage to obtain the graphs of control on the direction of the bicycle and the angle of fall of the same one, achieving a control practically perfectly having in it counts the great instability of a vehicle formed by two wheels. Finally, also one try to use LEGO's platform NXT MINDSTORM for being able to verify the functioning of the above mentioned bicycle in a prototype to scale; which we will see I do not turn out to be feasible.
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Keywords
Control automático, Tecnología automovilística, Bicicletas