Jezik: | Slovenski jezik |
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Leto izida: | 2016 |
Tipologija: | 2.09 - Magistrsko delo |
Organizacija: | UM FERI - Fakulteta za elektrotehniko, računalništvo in informatiko |
Založnik: | [J. Martinc] |
UDK: | 681.5:681.11.032(043.2) |
COBISS: | 20345110 |
Št. ogledov: | 1146 |
Št. prenosov: | 192 |
Ocena: | 0 (0 glasov) |
Metapodatki: |
Sekundarni jezik: | Angleški jezik |
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Sekundarni naslov: | Stabilization of an inverted pendulum with inertial wheel |
Sekundarni povzetek: | 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. |
Sekundarne ključne besede: | inverted pendulum;PID control;state space;Backstepping; |
URN: | URN:SI:UM: |
Vrsta dela (COBISS): | Magistrsko delo/naloga |
Komentar na gradivo: | Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Elektrotehnika |
Strani: | XI, 50 str. |
ID: | 9236841 |