Jezik: | Slovenski jezik |
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Leto izida: | 2020 |
Tipologija: | 2.09 - Magistrsko delo |
Organizacija: | UM FERI - Fakulteta za elektrotehniko, računalništvo in informatiko |
Založnik: | [D. Mohorko] |
UDK: | 681.513.3(043.2) |
COBISS: | 40428803 |
Št. ogledov: | 487 |
Št. prenosov: | 167 |
Ocena: | 0 (0 glasov) |
Metapodatki: |
Sekundarni jezik: | Angleški jezik |
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Sekundarni naslov: | Development of a rotary inverted pendulum control system |
Sekundarni povzetek: | 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. |
Sekundarne ključne besede: | PLC;servo drive;rotary inverted pendulum;Mitsubishi;modeling;control; |
Vrsta dela (COBISS): | Magistrsko delo/naloga |
Komentar na gradivo: | Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Elektrotehnika |
Strani: | XII, 88 f. |
ID: | 12042637 |