Physical Modelling and identification of Mechatronic system

Abstract

AKSHAY KUMAR GOUNI MANJUNATH. Physical Modelling and Identification of Mechatronics system. Ostrava, 2026. DIPLOMA THESIS. Ostrava: VSB - Technical University of Ostrava, Faculty of Mechanical Engineering.

This term project deals with the modelling, simulation, and control of a cart-pendulum mechatronic system that represents an overhead industrial crane. The principal aim is to actively suppress the swinging of a suspended load during gantry motion by means of a state-space controller. Three complementary models are developed and compared: a mathematical model derived from the Lagrange–Euler formulation and linearized into state-space form, a physical model built in MATLAB/Simulink using Simscape Multibody, and an experimental model realized on a custom test rig with a master–slave architecture based on an Arduino-compatible master and an ESP32 user interface. Cart position, pendulum angle, and motor speed are measured using an HC-SR04 ultrasonic sensor, an MPU6050 inertial unit, and motor encoders, with appropriate filtering, while the unmeasured velocities are reconstructed by a Luenberger state observer. The state-feedback gains and observer gains are computed by pole placement in MATLAB, and the resulting controller is applied to both simulation models, supplemented by a layered control methodology with safety logic for hardware implementation.