20.500.12556/DKUM-77943 Razvoj krmilnega sistema rotacijskega inverznega nihala magistrsko delo Development of a rotary inverted pendulum control system V magistrskem delu sta opisana izgradnja rotacijskega inverznega nihala in razvoj krmilnega sistema z opremo Mitsubishi. Predstavljena je mehanska konstrukcija in izpeljan dinamični model. Opisani so nujne nastavitve in program za vodenje servopogona preko industrijskega Ethernetnega standarda CC-Link in analognega vodenja. Načrtovan je kaskadni PD-regulator in predstavljeni so algoritmi za zanihaj v pokončni položaj in pokončno stabilizacijo. Meritve kotov se izvajajo z inkrementalnimi dajalniki. Simulacija in testiranje sta izvedena v okolju Matlab/Simulink. Narejen je uporabniški vmesnik, ki omogoča popoln nadzor nad krmilnim sistemom. 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. PLK servopogon rotacijsko inverzno nihalo Mitsubishi modeliranje regulacija PLC servo drive rotary inverted pendulum Mitsubishi modeling control true true false [D. Mohorko] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2020-09-26 01:06:52 2020-11-03 12:45:42 2022-08-09 17:23:52 2020-12-04 03:34:24 2020 0 Maribor 0 Maribor XII, 88 f. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.513.3(043.2) 40428803 URN:SI:UM:DK:0UJBKVPR MAG_Mohorko_Dalibor_2020.pdf MAG_Mohorko_Dalibor_2020.pdf 1 B1689B763EE225512920E402F59C2CC0 37d121e135ce06a52d07bebe04680c4e4b21ebfda2e7bed9971e1cc8f2c841dd ec2361d0-7c11-11eb-bb7a-00155d0001ca 20.500.12556/dkum/adf53242-91fc-4e1f-a096-ce73767b5c61 https://dk.um.si/Dokument.php?lang=slv&id=146694 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0