Control of Mechatronic Aeropendulum

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Supervisor:
Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

This document is a bachelor’s degree final project. A great part of the project is

about the introduction of the detailed planing and assembling of a driver circuitry,

with the help of which the angle control of an aeropendulum can be managed.

The aeropendulum as a system consists of a stand, a shaft on a pillar, and a rod

with a motor at the end. Additional counter wights can be placed on the opposite

end of the rod to balance the rotating part. The motor is a brushed DC motor in

this case with a propeller on the shaft. Thus it can act as an input force on the end

of the rod resulting angular rotation. The circuit designed for driving the motor

enables one-quadrant operation with the help of a MOSFET-type semiconductor

device. The circuit is extended with additional features like the measurement of

the motor with shunt resistor, external analog signal utilization for adjusting the

reference and the controller parameters furthermore LED-strip visualization. The of

the circuitry can be enabled and disabled with push buttons. The necessary control

signals provided by a DSP card that can be attached to the circuit.

The control loop is a closed one where the feedback is a voltage signal that is pro-

portional with the angular rotation of the rod. This voltage signal is generated by

a potentiometer that also serves as the fulcrum of the rod.

The microcontroller used for the control is a 32-bit F28027 on a C2000 Piccolo

Launchpad XL from Texas Instruments.

The algorithm is created graphically in MATLAB Simulink environment where the

C-code running on the controller can be directly generated and programmed from

the Simulink model.

The control algorithm is PD designed with MATLAB for the transfer function of

the pendulum, that was obtained through system identification that was made by

MATLAB System Identification Toolbox.

Finally a graphical user interface was created for the control of the pendulum

through serial port.

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