20.500.12556/DKUM-60236 STABILIZACIJA DVOJNEGA INVERZNEGA NIHALA STABILIZATION OF DOUBLE INVERTED PENDULUM V magistrskem delu je predstavljeno konstruiranje dvojnega inverznega nihala v programu Catia, ter praktična izdelava vozička, vodil, ter obeh nihal z uležajenjem. Merjenje kota zasuka poteka z natančnim rotacijskim inkrementalnim dajalnikom. Prikazana je povezava periferije s krmilnikom. Za stabilizacijo realnega sistema je uporabljen model, na podlagi katerega so načrtovane klasične in napredne regulacijske sheme. Poleg simulacijskih rezultatov delo vsebuje tudi nastavitev perifernih komponent ter implementacijo regulatorjev na ARM mikrokrmilniku. Rezultati delovanja realnega sistema so posneti s programom STM studio. Na koncu se nahaja še analiza cenovne primerjave s komercialnimi sistemi dosegljivimi na trgu. This thesis describes the construction of a double inverted pendulum in the Catia software, and the practical making of the cart, the linear guide rod and of both pendulums with bearings. The measurement of the pendulum's angle is executed with the rotational incremental encoder. The connection between the peripherals and the controller is also shown. For the purpose of stabilization of the realistic system, we have used a model as a basis to plan classic and advanced regulation schemes. Besides the simulation results, this work also includes the settings of the peripheral components and the implementation of the regulator on the ARM microcontroller. The results of the actual system performance are recorded with the STM studio software. At the end, the expenses are compared and analysed with the commercial systems available on the market. Inverzno nihalo Catia modeliranje PID regulacija prostor stanj mikrokrmilnik ARM. Inverted pendulum Catia modeling PID control state space microcontroller ARM. true true false M. Tertinek Slovenski jezik Angleški jezik Magistrsko delo/naloga 2016-06-10 09:17:58 2016-07-04 12:09:14 2022-06-22 03:06:26 2019-07-11 11:39:43 2016 0 [Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.451.25(043.2) 19791382 URN:SI:UM:DK:KXRQPTTB MAG_Tertinek_Miha_2016.pdf MAG_Tertinek_Miha_2016.pdf 1 C132CA04E0F80CF31E8E5984E34F3050 833ad8ad82fee26d72e0d2bb1b0b7a9e6cd8116ff32f0048d9e7033a79bc3ee7 bc691424-7c0c-11eb-bb7a-00155d0001ca https://dk.um.si/Dokument.php?lang=slv&id=94963 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0