Transporte unipersonal basado en el péndulo invertido utilizando matlab.

Abstract

The thesis work has been done in order to design a one-man vehicle transport, consisting of a platform supported on two wheels sharing a common axis, can move forward and backward, further comprising a rudder that allows turns to the right or left. No pedals for acceleration or deceleration are used, if the pilot wants to go faster should lean more and if you stop, you should try to stay upright. The sensors take the information from the inclination of the vehicle and sent to a microcontroller running a control PID (Proportional, Integrative and Derivative) which is a feedback control, calculates the error value of the inclination, delivered by the sensors, with respect to the desired value, in this case 0° relative to horizontal, to apply a corrective action on the engines and keep straight the passenger, thus emulating the beginning of the inverted pendulum. Proportional part depends on the current error, integrative part depends on the accumulation of past errors and the derivative part predicts future errors. The PID controller was designed in the SIMULINK tool of program MATLAB, based on the mathematical model of the vehicle obtained from the analysis of forces and torques involved in the whole system, this program also allows us to simulate the system with variations on the controller to measure and analyze its response.