20.500.12556/DKUM-87880 Vodenje krožnega inverznega nihala z oddaljenim merilnim mestom magistrsko delo The control of a circular inverted pendulum with a remote measurement location V magistrski nalogi je predstavljena regulacija vpete palice na sistem, ki se vrti okoli lastne osi, pri čemer je cilj, da je ta sistem sposoben postaviti palico v pokončno lego in jo tam za nekaj časa zadržati. Pri tem je palica vpeta na vrtljivo os sistema. Najprej smo vzpostavili komunikacijo med glavnim mikrokrmilnikom in računalnikom. Sledila je vzpostavitev povezave s pomočjo NRF modula med glavnim mikrokrmilnikom in mikrokrmilnikom, ki se je nahajal na sistemu. Po uspešni povezavi smo se lotili branja kota palice in kota vrtenja samega sistema. Nato smo načrtali tri regulatorje: PID, polinomsko sintezo in regulator v prostoru stanj. Pri slednjem smo dobili najboljši odziv, zato smo ga tudi uporabili pri končnem sistemu. S prilagajanjem parametrov in poskušanjem smo dosegli cilj naloge. Na koncu smo izdelali tiskano vezje in s tem izboljšali videz sistema. In the master's thesis, the control of a hinged rod on a system rotating around its own axis is presented. The objective is for this system to be capable of setting the rod in an upright position and holding it there for some time. The rod is hinged to the rotational axis of the system. Initially, communication between the main microcontroller and the computer was established. This was followed by setting up a connection using an NRF module between the main microcontroller and the microcontroller located on the system. After a successful connection, we proceeded to read the angle of the rod and the rotation angle of the system itself. Next, three controllers were designed: PID, polynomial synthesis, and a state-space controller. The latter yielded the best response, so it was used in the final system. By adjusting parameters and experimenting, we achieved the goal of the task. In the end, a printed circuit board was created, improving the overall appearance of the system. regulacija nihala regulacijski sistemi NRF komunikacija komunikacija dveh mikrokrmilnikov branje kota regulacija v prostoru stanj. pendulum regulation control systems NRF communication communication between two microcontrollers angle reading state-space control. true true false [U. Stiplovšek] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2024-03-29 11:20:39 2024-04-26 09:45:59 2024-07-17 04:02:54 0000-00-00 00:00:00 2024 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (XI, 63 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5:53.082.14(043.2) 201923843 MAG_Stiplovsek_Uros_2024.pdf MAG_Stiplovsek_Uros_2024.pdf 1 787BA0916F6B19479F4BCF74A214A5C6 01355b21201e4bbe6a1e2c3d766eb052ea0fd5ec2c6f62eb8d7d012d3ffd66b5 fed93367-edc9-11ee-9759-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=177698 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0