20.500.12556/DKUM-39941 IZDELAVA IN VODENJE INVERZNEGA NIHALA NA VOZIČKU CONSTRUCTION AND CONTROL OF AN INVERTED PENDULUM ON A CART V diplomskem delu so opisani izdelava, vodenje in testiranje inverznega nihala na vozičku. Navedeni so postopki načrtovanja mehanskega in električnega sklopa. Podan je tudi model nihala, ki je uporabljen v simulaciji regulacijske zanke. Regulacija in vodenje sta izvedena na mikrokrmilniku družine digitalnih signalnih procesorjev. Sistem je z brezžičnima moduloma povezan na osebni računalnik, kjer se spremljajo in beležijo podatki z mikrokrmilnika. This thesis describes the making, control and testing of the inverted pendulum on a cart. It describes the planning procedures of the mechanical and the electrical part. It also shows the mathematical model of the pendulum used in a simulation of a control loop. Regulation and control are carried out on a microcontroller classified as a digital signal processor. Data from the microcontroller are presented on a personal computer, which is connected to the microcontroller by two wireless transceivers. inverzno nihalo linearni kvadratični regulator ravnovesno stanje prostor stanj dsPIC inkrementalni rotacijski dajalnik MATLAB AutoCAD C# Inverted pendulum linear-quadratic regulator Equilibrium State-space dsPIC incremental rotary encoder MATLAB AutoCAD C# true true false [S. Tržan] Slovenski jezik Angleški jezik Diplomsko delo 2013-03-19 20:42:13 2013-04-16 11:44:38 2022-05-12 23:19:31 2021-04-22 03:36:43 2013 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5:681.11.032(043.2) 16847638 URN:SI:UM:DK:TSB9YJAV UNI_Trzan_Simon_2013.pdf UNI_Trzan_Simon_2013.pdf 1 F269D9AFF4EE3B16E00A6AA5DEC3070B beef4260650b8f7b114db511d92186fc0af58540ab5bcb4b2ea3b5aec96eee46 4b630031-7c09-11eb-bb7a-00155d0001ca 20.500.12556/dkum/77f23223-c1c9-4e3a-8de4-74b568c4060c https://dk.um.si/Dokument.php?lang=slv&id=54801 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0