prikaz prve stranice dokumenta Upravljanje obrnutim njihalom zasnovanim na načelu inercijalne sile
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undergraduate thesis
Upravljanje obrnutim njihalom zasnovanim na načelu inercijalne sile
2018. urn:nbn:hr:168:590613
Jakić, Grgo
University of Zagreb
Faculty of Electrical Engineering and Computing

Cite this document

Jakić, G. (2018). Upravljanje obrnutim njihalom zasnovanim na načelu inercijalne sile (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:590613

Jakić, Grgo. "Upravljanje obrnutim njihalom zasnovanim na načelu inercijalne sile." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:590613

Jakić, Grgo. "Upravljanje obrnutim njihalom zasnovanim na načelu inercijalne sile." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:590613

Jakić, G. (2018). 'Upravljanje obrnutim njihalom zasnovanim na načelu inercijalne sile', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 26 April 2024, https://urn.nsk.hr/urn:nbn:hr:168:590613

Jakić G. Upravljanje obrnutim njihalom zasnovanim na načelu inercijalne sile [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 April 26] Available at: https://urn.nsk.hr/urn:nbn:hr:168:590613

G. Jakić, "Upravljanje obrnutim njihalom zasnovanim na načelu inercijalne sile", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:590613

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Metadata
TitleUpravljanje obrnutim njihalom zasnovanim na načelu inercijalne sile
Title (english)Control of Inertia Wheel Inverted Pendulum System
AuthorGrgo Jakić
MentorJadranko Matuško (mentor)
Committee memberJadranko Matuško (predsjednik povjerenstva)
Committee memberŠandor Ileš (član povjerenstva)
Committee memberGoran Josipović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom radu se razmatra razvoj mehatroničkog sustava obrnutog njihala sa inercijskim diskom na čiju os rotacije je spojen aktuator koji generiranim momentom stabilizira sustav. Sustav je dizajniran u CAD alatu Solidworks te preko alata Simscape Multibody uvezen u Matlab Simulink. Pomoću ispravnog matematičkog modela u Malabu je izračunata matrica pojačanja za linearni kvadratični regulator (LQR) te u Simulinku složen valjani model. Kvaliteta sustava upravljanja provjerena je simulacijsku unutar Matlab/Simulink okruženja.
Abstract (english)
This thesis covers a development of a mechatronic Inertia Wheel Inverted Pendulum system. On the axis of rotation of the Inertia Wheel, an actuator is connected, which generates a torque that stabilizes the system. The system is designed in a CAD tool Solidworks and then, with a tool Simscape Multibody, imported in Matlab/Simulink. With an adequate mathematical model, a matrix of gains of LQR controller is calculated in Matlab. The performance of the designed control system is verified through simulations within Matlab/Simulink environment.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:590613
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2019-03-13 21:05:52