PROJECT'S REPORT |
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The project has been carried out through the following steps: 1. Modeling of the double pendulum using the Lagrange equations. 2. Design of a controller for the double inverted pendulum in its upright position. Followed by an optimization of the constructive parameters, in order to achieve a better controllability for the system. 3. Determination, through optimization, of the rising trajectory for the double pendulum, and design of a controller that assures that this trajectory is followed. 
Block diagram of the system plus the controller 4. Simulation
Simulation window 5. Mechanical design of the double pendulum and the cable transmission used as actuator.
PRO-E drawing of double pendulum plus transmission
Pictures of different details of the system built 6. Implementation of the whole system
Diagram of the implemented system 7. Experimental tests and results
Experimental values of the swing-up trajectory followed by the double pendulum |
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