Stabilizacija inverznega nihala z inercijskim kolesom

magistrsko delo

Jurij Martinc (Author), Andrej Sarjaš (Mentor)

Abstract

V magistrskem delu je opisana izdelava inverznega nihala z inercijskim kolesom ter njegova stabilizacija. Opisano je konstruiranje mehanskega dela nihala s pomočjo programske opreme SolidWorks. Podana je izpeljava matematičnega modela. Stabilizacija je izvedena z EC motorjem ter z regulatorjem, implementiranim na mikrokrmilniku STM32F4. Snovanje regulatorja je opravljeno s pomočjo programskega paketa MATLAB/Simulink. Za merjenje kota in kotne hitrosti sta uporabljena žiroskop ter pospeškometer. V magistrskem delu so predstavljene tudi eksperimentalne meritve regulacijskih odzivov.

Keywords

inverzno nihalo;PID regulacija;modeliranje;prostor stanj;magistrske naloge;

Data

Language:	Slovenian
Year of publishing:	2016
Typology:	2.09 - Master's Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[J. Martinc]
UDC:	681.5:681.11.032(043.2)
COBISS:	20345110
Views:	1146
Downloads:	192
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Stabilization of an inverted pendulum with inertial wheel
Secondary abstract:	In the master's thesis we have the description of making an inverted pendulum with inertial wheel and its stabilization. There is a description of constructing the mechanical part of the pendulum with the help of the software SolidWorks. The execution of the mathematical model is also presented. The stabilization is carried out with an EC motor and a controller, implemented on the microcontroller STM32F4. The design of the controller is done with the help of the program package MATLAB/Simulink. To measure the angle and angle velocity the gyroscope and accelerometer were used. In the thesis the experimental measures of the regulation reactions are also presented.
Secondary keywords:	inverted pendulum;PID control;state space;Backstepping;
URN:	URN:SI:UM:
Type (COBISS):	Master's thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Elektrotehnika
Pages:	XI, 50 str.
ID:	9236841