PENDUBOT

Jefferson Alberto Infante Salas, 151

jefferson_barsaelidolo@hotmail.com
Jorge Luis Aldaz Toala, 163
croco_bmx@hotmail.com
Lilia Helena Espinoza Pez, 226
lilyespinoza226@gmail.com
Edgar Andrs Chacha Melndrez, 229
andreschm92@gmail.com
David Geovanny Paguay Donoso, 270
davidpag2007@hotmail.com

ABSTRACT: when referring to the draft
Pendubot we imagine that relates to a pendulum
mechanism which is designed like a robot, but
with the research we did we find ideas which is a
mechanism that is currently used to transport only
one person, this mechanism is called Segway.
We have designed this mechanism based on the
Segway consisting of two wheels attached to a
single motor placed vertically, plus two light
sensors are located which are what allow us to
control our pendubot remain stable and that
additional circuitry isnt used digital elements, we
have only analogue elements with respect from
the bridge h, the comparator and compensator.
All this ends up being a mechanism that does not
serve as transportation but help us to simulate
how the Segway works.

KEY WORDS: compensation, amplifier, light
sensors, transfer function and analogue.

1INTRODUCTION
what would first define what our project is
explained. The pendubot we do is also known as
inverted pendulum is used in mathematics to
study two concepts time and gravity. This
pendulum comprises a rigid body is a rod which
locates in a base consisting of two wheels to not
be controlled by some automatic control system
that is apparently unstable. The primary objective
of the inverted pendulum is to control the
movement of the rod is kept upright if you get a
shock alter the vertical position of our pendubot
occurs.
In order to meet our goal has been to look for one
of the applications that have appeared recently in
Mexico and Ecuador that is giving the use today,
this application is that the Segway is a means of
transportation for only one person.

2THEORETICAL BASIS
QRD1114

The reflective sensor 1114 comprises a QRD
infrared emitting diode and NPN silicon
phototransistor mounted side by side in a black
plastic housing.
The axis of the radiation transmitter and the on-
axis response of the detector are both
perpendicular to the face of the QRD 1114. The
phototransistor responds to radiation from the
diode only when a reflective object surface or in
the field this view of the detector.








Figure 1: Imagene of the sensor QRD1114
















Figure 2: Curve vs forward voltage direct current
sensor QRD1114.
TRANSFER FUNCTION QRD1114:
Vpassive=1.48V
Vactive=5.48V
Ipassive=300mA
Iactive=570mA

() =
.

MOTOR DC
An engine comprises roughly one armor and a
rotor, factors involved in its operation as the
inductance of the armature, armature resistance,
current, electromotive force produced, friction
coefficient, constant force motor and motor
inertia.








Figure 3: Motor DC 100RPM to 6V















Figure 4: DC motor circuit

() =

+

Figura 5: funcin de transferencia del motor
LM324 op amp:
They are called operational amplifiers because
we can find based on mathematical operations as
may be adders, integrators, comparators, etc.
circuits. These elements are used in analog
electronics. Its amplifier gain hfe = 1000.







Figura 5: amplificador operacional

H Bridge
It is an electronic circuit that allows a DC electric
motor rotate in both directions, forward and
reverse. They are widely used in robotics and as
frequency converters. The H bridges are
available as integrated circuits, but can also be
built from discrete components.














Figure 6: H bridge design


















S1 S2 S3 S4 Resultado
1 0 0 1 El motor gira en avance
0 1 1 0 El motor gira en retroceso
0 0 0 0
El motor se detiene bajo su
inercia
1 0 1 0 fast-stop


TRANSFER FUNCTION H BRIDGE:

() =

BLOCK DIAGRAM SERIES COMPENSATION:









Figure 7: Block diagram in series with
compensation
ADVANCE BUFFER CIRCUIT, TO SERVE AND
TRANSFER FUNCTION:
The lead compensation perform as we need our
system to respond faster improve transient
response time at the expense of our system q
alter the accuracy of the steady state. To prevent
this from happening and be as visible design a
compensator voltages and compares with a
sensitivity setting of our sensors, so we can place
them on different types of surfaces and that our
system is stable despite not having much stability.


Figure 8: lag compensation circuit-lead


Figure 9: Transfer function compensation
advancement











3 DEVELOPMENT CONTROL SYSTEM
















Figure 10: Simulation of control system Pendubot

The calculations are the annex, there we find the
transfer function of our control system along with
our block diagram, and all calculations are
performed.

4 OPINION
This experience of performing a controlled
compensation mechanism led us to draw these
conclusions:
To start we had to discuss how we were going
to design our Pendubot and had to consider how
our system was going to work and when to place
our sensors to locate your point this way the
system works correctly.
We also design our block diagrams taking into
account the feedback of the system, with each of
our designs as part of the driver that ends up
being our compensation, part of which is our
bridge h, the actuator is part of our motor and
transducer are our sensors.
When you operate our Pendubot saw the
SETPOINT is 3.10V stability, and stability time
becomes 4 seconds.
By the torque capacity of the engine, the load it
can carry is not much and if the load is increased
too much the control system takes to reach the
point of stability or cannot get to this point.

5 REFERENCIAS
Movimiento pendular. Recuperado de:
http://www.mundodescargas.com/apuntes-
trabajos/fisica/decargar_practicas-de-fisica.pdf
Ogata K. (2010). Ingeniera de control
moderna. Pearson Educacin. Madrid.
Control de ciclo cerrado y un Motor DC.
Recuperado de: http://www.ni.com/white-
paper/12944/es/



3
2
1
4
11
U1:A
LM324
5
6
7
4
11
U1:B
LM324
10
9
8
4
11 U1:C
LM324
12
13
14
4
11
U1:D
LM324
d (mm)
4.0
C K
A E
Q1
CNY70
d (mm)
5.9
C K
A E
Q2
CNY70
IN1 2 OUT1 3
OUT2 6
OUT3 11
OUT4 14
IN2 7
IN3 10
IN4 15
EN1 1
EN2 9
VS
8
VSS
16
GND GND
U2
L293D
R1
220
R2
10k
R3
220
R4
10k
R5
330k
R6
220k
R8
330k
R9
10k
R7
220k
C1
22n
RV1
10k
C2
22n