Projektiranje sustava upravljanja laboratorijskim postavom obrnutog njihala primjenom postupka postavljanja polova

undergraduate thesis

• Title (english): Control of inverted pendulum laboratory process using pole placement controller
• Author: Jere Radas
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Antun Skurić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-09-06, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Još od druge polovice prošlog stoljeća, sustav obrnutog njihala predstavlja važan referentni model u području teorije upravljanja. Kao nelinearan i nestabilan sustav omogućava implementaciju raznih metoda upravljanja s ciljem balansiranja njihala u ravnotežnom stanju. U ovom radu korištena je metoda postavljanja polova zatvorenog sustava pomoću povratne veze. Nakon realizacije ove metode, sustav upravljanja je nadograđen estimatorom stanja uz pretpostavku da neke od veličina stanja sustava nije moguće izmjeriti. Sustav upravljanja sintetiziran na ovaj način naziva se linearni kvadratni Gaussov kontroler. Njegovo glavno svojstvo je da je on idealni kontroler za sustave s niskim stupnjem smetnji i šumova, kao što je u ovom primjeru obrnutog njihala postavljenog u laboratorijskim uvjetima.

Abstract (english)

Since the second half of the last century, inverted pendulum system represents an important benchmark in control theory. As a nonlinear and unstable system, it allows various methods of control to be implemented on itself with the goal of balancing the pendulum to its equilibrium position. Method that was used for this paper is the method of closed-loop pole placement using feedback control. After the realization of this method, the control system was upgraded with a full-state estimator, with the assumption that some of the state values could not be measured. A control system synthesized this way is called a linear quadratic Gaussian controller. Its main feature is that it is the ideal controller for systems with low disturbance and noise rate, like in this example of an inverted pendulum placed in laboratory conditions.

• Keywords: Obrnuto njihalo; prostor stanja; postavljanje polova; povratna veza; linearni kvadratni regulator; estimator; Kalmanov filtar; linearni kvadratni Gaussov kontroler.
• Keywords (english): Inverted pendulum; state space; pole placement; feedback; linear quadratic regulator; estimator; Kalman filter; linear quadratic Gaussian controller.
• Language: croatian
• URN:NBN: urn:nbn:hr:168:281085
• 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: 2019-03-14 00:17:10