Upravljanje obrnutim njihalom zasnovanim na načelu inercijalne sile

undergraduate thesis

• Title (english): Control of Inertia Wheel Inverted Pendulum System
• Author: Grgo Jakić
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Goran Josipović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-13, 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... More Matlab/Simulink okruženja. Less

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... More simulations within Matlab/Simulink environment. Less

• Keywords: Obrnuto njihalo; bezkolektorski motor
• Keywords (english): Reaction wheel pendulum; BLDC
• Language: croatian
• URN:NBN: urn:nbn:hr:168:590613
• 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: 2019-03-13 21:05:52