Desarrollo de un robot péndulo invertido mediante un controlador PID

Abstract

This project focuses on the development of an inverted pendulum robot controlled by a PID control system, with the purpose of participating in robotic competitions and exploring new competitive categories involving this type of robots. Its implementation gives students the opportunity to experiment in a practical way the design, adjustment and control of robotic systems, strengthening their understanding of the principles of automatic control. For this purpose, the adaptation of a pre-existing PID code is contemplated, which will allow adjusting its parameters according to the dynamics of the system and the restrictions of the hardware used. For the design and development of the project, CAD software was used, which facilitated the integration of the different components of the system, such as motors, sensors and microcontrollers. During the design process, a balanced structure was prioritized to ensure efficient assembly and proper operation. In addition, PLA was selected for the 3D printing of the structure, due to its strength and ability to support the weight of the components. In terms of programming, a pre-existing PID code was adapted to optimize its integration with the selected hardware. The final phase of the project consisted of the assembly of the printed parts and components, verifying that it contained a balanced design. In addition, system stability was achieved through adjustments to the code, performed through iterative testing to obtain the approximate parameters to improve performance. This integrated approach overcame several technical challenges, resulting in a robust and functional prototype, ready for implementation in a competitive environment