Inverted pendulum experiment

Art der Arbeit:

Studien-/Bachelor-/Diplom-/Masterarbeit

Betreuer:

Heinrich, Simon
Lehrstuhl für Technische Dynamik (LTD, Prof. Leyendecker)
Telefon 09131/85-61014, Fax 09131/85-61011, E-Mail: simon96.heinrich@fau.de

Beschreibung der Arbeit:

The inverted pendulum is often used as an example in engineering. It can be controlled in its unstable equilibrium position, the dynamics of a pendulum can be observed, or optimal upswing trajectories can be obtained with optimal control methods. The latter is the goal of the experimental setup designed and built in this thesis. The experimental setup has to be updated to a belt driven two-axial inverted pendulum using 3D design and 3D printing. The new stepper motors have to actuated and controlled via a microcontroller for a successful upswing for the pendulum. As a final step a control strategy for an optimal upswing, based on optimal control, has to be implemented.

Vorausgesetzte Vorlesungen bzw. Kenntnisse:

Necessary qualifications

• engineering studies (mechanical, electrical, or similar)

• basic 3D design and programming skills

• fluent in either English or German

• interest in combining practical and theoretical elements

Additional qualifications (not necessary)

• experience with Matlab and Simulink

• experience with rapid prototyping or 3D printing

Weitere Informationen zur Arbeit:

https://www.ltd.tf.fau.de/ltd/teaching/student-theses/

Schlagwörter:

3d printing, experiment, optimal control, prototype, design, engineering

Bearbeitungszustand:

Die Arbeit ist noch offen.