Embedded Control of a Rotary Inverted Pendulum
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Journal Title
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Sähkötekniikan korkeakoulu |
Master's thesis
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Authors
Date
2024-08-19
Department
Major/Subject
Smart Systems Integrated Solutions
Mcode
ELEC3064
Degree programme
Master’s Programme in Smart Systems Integrated Solutions (Erasmus Mundus)
Language
en
Pages
52
Series
Abstract
With the high demand for applications in the Internet of Things and the upcoming Industrial Revolution 5.0, modern control systems require fast, low-power, and reliable control algorithms. This thesis explores the design, implementation, and evaluation of an embedded control system for a rotary inverted pendulum. The primary objective is to integrate efficient control algorithms within an embedded system framework while addressing constraints such as low computational capacity, memory limitations, and the necessity for real-time processing. A robust communication link is established between the QUBE-Servo 2 and the DPP microcontroller, enabling the implementation of the Linear Quadratic Regulator (LQR) on the Dual Processor Platform (DPP) microcontroller, which effectively stabilizes the pendulum. The performance evaluation reveals a close alignment between calculated and generated control signals in the balanced state, with discrepancies before balancing attributed to the implemented filtering techniques. Additionally, a wireless network control implementation is proposed to fully utilize the DPP microcontroller's potential, aiming to achieve low-latency communication over long distances and thereby enabling fast and dynamic control.Description
Supervisor
Baumann, DominikThesis advisor
Baumann, DominikKeywords
cyber-physical system, embedded system, network control system, wireless control of multi-agent systems, quanser qube servo