20.500.12556/DKUM-84282 Načrtovanje, izdelava in vodenje invertiranega nihala na linearnem vodilu z vozičkom magistrsko delo Design, manufacture and control of inverted pendulum on linear guide with trolley V magistrski nalogi smo zasnovali invertno nihalo na linearnem vodilu z vozičkom, ki temelji na industrijski opremi Mitsubishi. Sistem smo implementirali tako na mehanski kot tudi na programski ravni. Predstavili smo mehansko zasnovo sistema skupaj z električno shemo, izdelano v EPLAN-u. Opisali smo tudi programsko rešitev za vodenje servo pogona preko CC-Linka in analogno-digitalnih signalov. Za pokončno stabilizacijo sistema smo uporabili kaskadni PID regulator, ki omogoča prehod iz nihaja v stabilen položaj. Meritve pozicije vozička in nihala smo izvajali preko inkrementalnih dajalnikov, povezanih na hitre vhode PLK. Uporabniški vmesnik omogoča nadzor sistema in spreminjanje parametrov servo krmilnika. In our master's thesis, we designed an inverted pendulum on a linear guide with a trolley, based on Mitsubishi industrial equipment. The system was implemented at both the mechanical and software levels. We presented the mechanical design of the system along with the electrical diagram created in EPLAN. We also described a software solution for controlling the servo drive via CC-Link and analog-to-digital signals. For upright stabilization of the system, we used a cascaded PID regulator that enables the transition from a swing to a stable position. Position measurements of the trolley and pendulum were performed using incremental encoders connected to high-speed PLC inputs. The user interface allows system monitoring and adjustment of servo controller parameters. invertirano nihalo kaskadni PID regulator PLK HMI servo pogon inverted pendulum cascade PID regulator PLC HMI servo drive true true false [V. Lugarič] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2023-05-15 18:16:20 2023-05-31 14:24:38 2023-11-08 14:00:07 0000-00-00 00:00:00 2023 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (XIV, 91 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.513.3:681.515.8(043.2) 156992515 MAG_Lugaric_Vedran_2023.pdf MAG_Lugaric_Vedran_2023.pdf 1 5D0D36A21B66CC3D3C763395A2BDDAB6 8870bb62d090ee6eb854439469a1e34af59492be86f3dcdc9616b109ec7aa9cf c36445c9-0389-11ee-b3e5-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=167752 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0