20.500.12556/DKUM-10627 SNOVANJE IN VODENJE MEHANIZMA Z ENO PROSTOSTNO STOPNJO DEVELOPMENT AND CONTROL OF MECHANISM WITH ONE DEGREE OF FREEDOM V diplomski nalogi je opisan mehanizem z eno prostostno stopnjo, izdelan za potrebe pedagoškega procesa. Mehanizem je opremljen s servoojačevalnikom, ki vsebuje analogno tokovno regulacijo. Za krmilnik je uporabljen DSP-2 regulacijski sistem, ki omogoča hitro izvedbo algoritmov (Rapid Control Prototyping - RCP). Za napajanje DSP-2 kartice in povezovanje signalov je izdelana napajalna kartica. Pri vodenju mehanizma je uporabljen PD regulator in referenčna trajektorija s sin2 hitrostnim profilom. Prikazani in primerjani so simulacijski in eksperimentalni rezultati. Zajeti so vsi električni in konstrukcijski načrti, ter postopek izdelave mehanizma z eno prostostno stopnjo. This work describes a design and construction of mechanism with one degree of freedom, which will be used in the pedagogical process. Mechanism is equipped with a servo-amplifier, which contain analog current controller. The controller is realized by using DSP-2 module, which makes Rapid Control Prototyping – RCP possible. The supply card is developed for power supply and signal connection. For the motion control of mechanism PD controller and reference trajectory with sin2 profile is developed. Simulation and experimental results are shown and compared. The work includes electrical and construction plans as well as detailed description of the process of building of the mechanism with one degree of freedom. Mehatronska naprava mehanizem z eno prostostno stopnjo regulacija gibanja enosmerni motor dinamični model Mechatronic device mechanism with one degree of freedom motion control direct current motor dynamic model true true false [T. Kirbiš] Slovenski jezik Angleški jezik Diplomsko delo 2009-05-28 11:55:52 2012-02-02 09:22:43 2022-04-11 16:25:51 2022-04-16 03:35:47 2009 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.513.3.033(043.2) 13312534 URN:SI:UM:DK:NW6ZH0TQ UNI_Kirbis_Tomaz_2009.pdf UNI_Kirbis_Tomaz_2009.pdf 1 CBA76C4F2C8A52464A3A9C52C808859E e1b55ac98f7140ade2bbd36b3ec22c68d6b4bb86dcacf17cbbbb12e06b26b38d e183a90d-7c02-11eb-bb7a-00155d0001ca 20.500.12556/dkum/6064bff5-5a15-452b-818c-80306cb679a0 https://dk.um.si/Dokument.php?lang=slv&id=8851 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0