Stabilizacija dvojnega inverznega nihala

magistrsko delo

Miha Tertinek (Author), Rajko Svečko (Mentor), Andrej Sarjaš (Co-mentor)

Abstract

V magistrskem delu je predstavljeno konstruiranje dvojnega inverznega nihala v programu Catia, ter praktična izdelava vozička, vodil, ter obeh nihal z uležajenjem. Merjenje kota zasuka poteka z natančnim rotacijskim inkrementalnim dajalnikom. Prikazana je povezava periferije s krmilnikom. Za stabilizacijo realnega sistema je uporabljen model, na podlagi katerega so načrtovane klasične in napredne regulacijske sheme. Poleg simulacijskih rezultatov delo vsebuje tudi nastavitev perifernih komponent ter implementacijo regulatorjev na ARM mikrokrmilniku. Rezultati delovanja realnega sistema so posneti s programom STM studio. Na koncu se nahaja še analiza cenovne primerjave s komercialnimi sistemi dosegljivimi na trgu.

Keywords

inverzno nihalo;Catia;modeliranje;PID regulacija;mikrokrmilnik ARM;

Data

Language:	Slovenian
Year of publishing:	2016
Typology:	2.09 - Master's Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	M. Tertinek
UDC:	004.451.25(043.2)
COBISS:	19791382
Views:	888
Downloads:	109
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	STABILIZATION OF DOUBLE INVERTED PENDULUM
Secondary abstract:	This thesis describes the construction of a double inverted pendulum in the Catia software, and the practical making of the cart, the linear guide rod and of both pendulums with bearings. The measurement of the pendulum's angle is executed with the rotational incremental encoder. The connection between the peripherals and the controller is also shown. For the purpose of stabilization of the realistic system, we have used a model as a basis to plan classic and advanced regulation schemes. Besides the simulation results, this work also includes the settings of the peripheral components and the implementation of the regulator on the ARM microcontroller. The results of the actual system performance are recorded with the STM studio software. At the end, the expenses are compared and analysed with the commercial systems available on the market.
Secondary keywords:	inverted pendulum;Catia software;PID control;microcontroller ARM;
URN:	URN:SI:UM:
Type (COBISS):	Master's thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Elektrotehnika
Pages:	XI, 68 f.
ID:	9150009