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DKUM
EPF - Faculty of Business and Economics
FE - Faculty of Energy Technology
FERI - Faculty of Electrical Engineering and Computer Science
FF - Faculty of Arts
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Faculty of Business and Economic, Maribor
Faculty of Agriculture and Life Sciences, Maribor
Faculty of Logistics, Celje, Krško
Faculty of Organizational Sciences, Kranj
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Title:
Stabilizacija inverznega nihala z inercijskim kolesom
Authors:
ID
Martinc, Jurij
(
Author
)
ID
Sarjaš, Andrej
(
Mentor
)
More about this mentor...
Files:
MAG_Martinc_Jurij_2016.pdf
(2,66 MB)
MD5: 2A7CD53EBDB903B09E44233DA73ECD03
Language:
Slovenian
Work type:
Master's thesis/paper
Typology:
2.09 - Master's Thesis
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
Abstract:
V magistrskem delu je opisana izdelava inverznega nihala z inercijskim kolesom ter njegova stabilizacija. Opisano je konstruiranje mehanskega dela nihala s pomočjo programske opreme SolidWorks. Podana je izpeljava matematičnega modela. Stabilizacija je izvedena z EC motorjem ter z regulatorjem, implementiranim na mikrokrmilniku STM32F4. Snovanje regulatorja je opravljeno s pomočjo programskega paketa MATLAB/Simulink. Za merjenje kota in kotne hitrosti sta uporabljena žiroskop ter pospeškometer. V magistrskem delu so predstavljene tudi eksperimentalne meritve regulacijskih odzivov.
Keywords:
inverzno nihalo
,
modeliranje
,
PID regulator
,
prostor stanj
,
Backstepping
Place of publishing:
Maribor
Publisher:
[J. Martinc]
Year of publishing:
2016
PID:
20.500.12556/DKUM-64793
UDC:
681.5:681.11.032(043.2)
COBISS.SI-ID:
20345110
NUK URN:
URN:SI:UM:DK:FHASWKHS
Publication date in DKUM:
20.12.2016
Views:
2049
Downloads:
291
Metadata:
Categories:
KTFMB - FERI
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Secondary language
Language:
English
Title:
Stabilization of an inverted pendulum with inertial wheel
Abstract:
In the master's thesis we have the description of making an inverted pendulum with inertial wheel and its stabilization. There is a description of constructing the mechanical part of the pendulum with the help of the software SolidWorks. The execution of the mathematical model is also presented. The stabilization is carried out with an EC motor and a controller, implemented on the microcontroller STM32F4. The design of the controller is done with the help of the program package MATLAB/Simulink. To measure the angle and angle velocity the gyroscope and accelerometer were used. In the thesis the experimental measures of the regulation reactions are also presented.
Keywords:
inverted pendulum
,
modeling
,
PID controller
,
state space
,
Backstepping
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