GrabCAD 模型信息
Aero-Pendulum — Control Systems Platform (PID / H∞ / SMC) · 模型 46049
Aero-pendulum (aero-balancing beam) — a compact, fully 3D-printed platform for angular position control, built as a control-systems benchmark. A brushed DC motor drives a propeller at one end of a pivoting arm. The propeller thrust controls the arm's pitch angle against gravity, while the offset weight on the opposite end makes the plant nonlinear — ideal for comparing control strategies. Hardware: - Arduino Uno R3 (used as DAQ) - MPU6050 IMU (accelerometer + gyroscope) - AS5600 magnetic rotary encoder (angle feedback) - L298N H-bridge motor driver - 12V / 3A supply with LM2596 / DC-DC regulation Three controllers were designed, simulated and implemented in MATLAB/Simulink, then compared on the real hardware: classical PID, robust H-infinity (H∞), and Sliding Mode Control (standard and equivalent). The linked video shows the equivalent SMC controller tracking a staircase reference in real time. The printed assembly includes the electronics enclosure/base, vertical stand, rotating link, motor mount and propeller. Developed for the Control Techniques course at Universidad Nacional de Colombia — Bogotá.
- 格式
- Autodesk Inventor、STEP / IGES、STL、Rendering
- 分类
- 3D printing、Educational、Robotics
- 标签
- control theory、control systems、aerobalance、aero-pendulum
- 数据更新
- 2026-10-05T07:42:19Z
