Pendulo Invertido com Lógica Fuzzy (original) (raw)
The present work deals with the study, construction and control of an inverted pendulum system using fuzzy logic embedded in a low cost microcontroller. To this end, we performed extensive research on the topic where they were shown the basics of inverted pendulum system and discussed some models of control, especially the fuzzy logic operation and applicability. We built a simple prototype for initial testing of fuzzy logic and behavior mechanisms, was later designed and built a larger plant and more robust control tests. To realize the processing, we used a microcontroller ATmega 2560 embarked on an open hardware language called ARDUINO. The program was written in C language version suitable for this type of microcontroller. The implementation of the control system to the prototype possible to analyze the performance of the controller in the plant and set it in order to get the best response. Computer simulations were used in order to assist the construction of the membership functions of fuzzy logic and comparisons were modified when the quantity of rules and pertinence. Arduino a second plate was used to perform data acquisition in real time of the plant in conjunction with Matlab. The results were satisfactory, showing that it is possible to control a complex problem such as inverted pendulum, fuzzy logic in microcontroller embedded with the same speed limits and information storage thereof.
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