Pinares-Mamani Omar Gustavo Celso, Cutipa-Luque Juan C
Universidad Nacional de San Agustín de Arequipa, Arequipa, Peru.
HardwareX. 2020 Oct 9;8:e00148. doi: 10.1016/j.ohx.2020.e00148. eCollection 2020 Oct.
Commercial modules for learning advanced control systems are not quite common and some are very expensive due to their sensors, electronic and license. There is an open area to develop and to build didactic modules to improve the learning process using experimentation in real physical systems. Particularly, a cart inverted pendulum is a classical physical system very commonly used in recent decades. We propose a cart inverted pendulum named MoDiCA-X as a low-cost didactic module with open source hardware and software. It is an electromechanical system feasible to build and easy to be modified. The mechanical parts of the module are 3D printed solids and can also be easily replicated. In terms of programming, the control applied to the system can be modified, since it uses C/C++ programming languages that are widely used in the academic community. The module is equipped with two very commercial sensors, are easy to install and to remove; both acquire the pendulum attitude and the car position. The actuators are four electric DC motors coupled to the car wheels to provide suitable velocity and torque to each axle independently. We validate the performance of the module by applying a multivariable linear quadratic regulator algorithm (LQR).
用于学习先进控制系统的商业模块并不常见，而且由于其传感器、电子元件和许可证的原因，有些模块非常昂贵。在利用实际物理系统中的实验来开发和构建教学模块以改进学习过程方面，存在一个开放领域。特别是，小车倒立摆是近几十年来非常常用的经典物理系统。我们提出了一种名为MoDiCA-X的小车倒立摆，作为一种具有开源硬件和软件的低成本教学模块。它是一个可行构建且易于修改的机电系统。该模块的机械部件是3D打印的实体，也很容易复制。在编程方面，应用于该系统的控制可以修改，因为它使用在学术界广泛使用的C/C++编程语言。该模块配备了两个非常商业化的传感器，易于安装和拆卸；两者都能获取摆的姿态和小车的位置。执行器是四个与小车车轮相连的直流电动机，可以独立地为每个轴提供合适的速度和扭矩。我们通过应用多变量线性二次调节器算法（LQR）来验证该模块的性能。
