Projektiranje sustava upravljanja procesom obrnutog njihala s mehanizmom samoupuštanja

undergraduate thesis

• Title (english): Design of a control system for a self-erecting inverted pendulum process
• Author: Nikolina Jarak
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Marko Švec (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Obrnuto rotacijsko njihalo reprezentira primjer dinamički nelinearnog i
nestabilnog sustava sa dva stupnja slobode gibanja. U ovom radu je
implementiran te prikazan hibridni regulator s ciljem dovođenja sustava u
okolinu ravnotežnog položaja te stabilizacije njihala u ravnotežnom položaju.
Sustav je opisan pomoću matematičkog modela koji je zbog svoje nelinearne
dinamike jako složen. Pri opisu matematičkog modela korištena je Lagrange-ova
metoda kojoj je glavna ideja očuvanje momenta i energije. Za slučaj dovođenja
sustava u okolinu ravnotežnog položaja projektiran je swing-up regulator, dok
za slučaj stabilizacije njihala u ravnotežnom položaju projektiran je regulator
pomoću metode polova. Swing-up algoritam je dizajniran jer stabilizirajući
regulator djeluje samo kad je kut otklona njihala u okolini ravnotežnog položaja
te se temelji na energetskom principu tako da sustav računa trenutnu energiju
sustava te mu u svakom trenutku daje dodatnu energiju kako bi došao u
ravnotežni položaj. Za projektirani regulator pomoću metode polova provedena
je linearizacija matematičkog modela te sinteza regulatora na lineariziranom i
nelinearnom modelu. U konačnici, hibridni regulator je provjeren simulacijski
unutar Matlab okruženja te eksperimentalno na laboratorijskom postavu.

Abstract (english)

Inverted rotating pendulum represents an example of a dynamically nonlinear
and unstable system with two rotational degrees of freedom. What is
implemented and shown in this paper is a hybrid controller to bring the system
into the balanced position and stabilization of the pendulum in a balanced
position. The system is described by a mathematical model which, due to its
nonlinear dynamics, is very complex. In the description of the mathematical
model, Lagrange’s method was used, whose main idea is conservation of
momentum and energy. In the case of bringing the system into the balanced
position the model has been designed with a swing-up controller, and in the
case of stabilization of the pendulum in a balanced position, controller has been
designed using the method of poles. Swing-up algorithm was developed because
the stabilizing controller only works when the deflection angle of the pendulum
is around the balanced position and is based on the energy principle, so that the
system calculates the current energy of the system, and provides him, at any
time, with extra energy to reach the balanced position. For the designed
controller using the method of poles, linearization of the mathematical model
and the synthesis of the controller on the linear and nonlinear model was
performed. Ultimately, a hybrid controller is verified by simulation in Matlab
environment and experimentally in the laboratory setup.

• Keywords: obrnuto rotacijsko njihalo; nelinearna dinamika; stabilizirajući regulator; linearizacija; swing-up regulator; Lagrange-ova metoda
• Keywords (english): inverted rotational pendulum; nonlinear dynamics; stabilizing regulator; linearization; swing-up regulator; Lagrange method
• Language: croatian
• URN:NBN: urn:nbn:hr:168:768180
• Study programme: Title: 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 resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 18:40:45