20.500.12556/DKUM-84572 Vodenje inverznega nihala magistrsko delo Control of an inverted pendulum V magistrskem delu je opisana izgradnja inverznega nihala na vozičku ter razvoj krmilnega sistema z uporabo mikrokrmilnika Arduino Mega 2560. Podrobno opisuje izpeljavo dinamičnega modela sistema in izpeljavo linearnega kvadratičnega regulatorja. Opisuje vse potrebne komponente za izgradnjo fizičnega inverznega nihala na vozičku ter njihove nastavitve. Načrtovan je algoritem za zanihaj nihala v pokončni položaj, kjer nato preide v stabilizacijo nihala. Opravljena je bila tudi kosimulacija med MSC Adams in Matlab/Simulink. Za meritve kota in pomika vozička so uporabljeni inkrementalni dajalniki pomika, podatke katerih smo spremljali v Matlab/Simulink. Testiranja algoritmov in simulacij so opravljena v okolju Matlab/Simulink. The master's thesis describes the construction of an inverted pendulum on a cart and the development of a control system with using the Arduino Mega 2560 microcontroller. It describes in detail the derivation of a dynamic model of the system and the derivation of a linear quadratic regulator. It describes all the components needed to build a physical inverted pendulum on a cart and their settings. An algorithm is planned to swing the pendulum to an upright position, where it then transitions to stabilize the pendulum. A co-simulation between MSC Adams and Matlab/Simulink was also performed. Incremental encoders are used to measure the angle and displacement of the cart which was monitored in Matlab/Simulink. Algorithm and simulation tests are performed in the Matlab/Simulink environment. inverzno nihalo prostor stanj linearizacija linearni kvadratični regulator MATLAB inverted pendulum State-space linear-quadratic regulator linearization MATLAB true true false [D. Kunštek] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2023-06-21 21:08:46 2023-09-21 10:02:39 2023-12-12 03:07:38 0000-00-00 00:00:00 2023 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (XI, 72 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.511.2.033(043.2) 176775683 MAG_Kunstek_David_2023.pdf MAG_Kunstek_David_2023.pdf 1 B55F8D8FC42E3E4E2DB03FF1E48054B4 a89e304e13bfecbfa69e1ee06bb5b6ed191e50c451d41f244718615bee1ad93d c618ea28-135c-11ee-93cc-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=168288 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0