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A low-cost didactic module for testing advanced control algorithms.

Omar Gustavo Celso Pinares-Mamani1, Juan C Cutipa-Luque1

  • 1Universidad Nacional de San Agustín de Arequipa, Arequipa, Peru.

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|May 2, 2022
PubMed
Summary
This summary is machine-generated.

We developed MoDiCA-X, a low-cost, open-source cart inverted pendulum system for advanced control systems education. This electromechanical module enhances learning through experimentation with real physical systems.

Keywords:
3D printerCart inverted pendulumControl systems.Didactic module

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Area of Science:

  • Control Systems Engineering
  • Robotics Education
  • Mechatronics

Background:

  • Commercial advanced control system modules are often expensive and inaccessible.
  • Experimentation with real physical systems is crucial for effective learning in control engineering.
  • The cart inverted pendulum is a widely recognized and valuable system for control education.

Purpose of the Study:

  • To introduce MoDiCA-X, a novel, low-cost didactic module for advanced control systems.
  • To provide an open-source hardware and software solution for hands-on learning.
  • To facilitate experimentation and modification for educational purposes.

Main Methods:

  • Designed and 3D-printed mechanical components for easy replication and modification.
  • Integrated commercial sensors for pendulum attitude and car position acquisition.
  • Utilized four electric DC motors for independent wheel control.
  • Implemented control algorithms using C/C++ programming languages.
  • Validated system performance using a multivariable linear quadratic regulator (LQR) algorithm.

Main Results:

  • Successfully developed a functional and affordable cart inverted pendulum module (MoDiCA-X).
  • Demonstrated the module's feasibility for building and modification.
  • Validated the effectiveness of the LQR control algorithm on the MoDiCA-X system.
  • Confirmed the ease of sensor integration and actuator control.

Conclusions:

  • MoDiCA-X offers a cost-effective and accessible platform for advanced control systems education.
  • The open-source nature promotes customization and wider adoption in academic settings.
  • The module effectively supports practical learning and experimentation in control engineering.