Razvoj krmilnega sistema rotacijskega inverznega nihala
magistrsko delo
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: |
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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 |
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