Razvoj krmilnega sistema rotacijskega inverznega nihala

magistrsko delo

Dalibor Mohorko (Author), Nenad Muškinja (Mentor)

Abstract

V magistrskem delu sta opisana izgradnja rotacijskega inverznega nihala in razvoj krmilnega sistema z opremo Mitsubishi. Predstavljena je mehanska konstrukcija in izpeljan dinamični model. Opisani so nujne nastavitve in program za vodenje servopogona preko industrijskega Ethernetnega standarda CC-Link in analognega vodenja. Načrtovan je kaskadni PD-regulator in predstavljeni so algoritmi za zanihaj v pokončni položaj in pokončno stabilizacijo. Meritve kotov se izvajajo z inkrementalnimi dajalniki. Simulacija in testiranje sta izvedena v okolju Matlab/Simulink. Narejen je uporabniški vmesnik, ki omogoča popoln nadzor nad krmilnim sistemom.

Keywords

servopogon;rotacijsko inverzno nihalo;modeliranje;regulacija;magistrske naloge;

Data

Language:	Slovenian
Year of publishing:	2020
Typology:	2.09 - Master's Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[D. Mohorko]
UDC:	681.513.3(043.2)
COBISS:	40428803
Views:	487
Downloads:	167
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Development of a rotary inverted pendulum control system
Secondary abstract:	The master's thesis describes the construction of a rotary inverted pendulum and the development of a control system with Mitsubishi equipment. The mechanical construction and the derived dynamic model are presented. The necessary settings and program for servo drive control via the CC-Link industrial Ethernet standard and analog control are described. A cascade PD controller is designed and algorithms for swing up and upright stabilization are presented. Angle measurements are performed with incremental encoders. Simulation and testing are performed in a Matlab / Simulink environment. A user interface has been created that allows complete control of the control system.
Secondary keywords:	PLC;servo drive;rotary inverted pendulum;Mitsubishi;modeling;control;
Type (COBISS):	Master's thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Elektrotehnika
Pages:	XII, 88 f.
ID:	12042637