Simulacija obrnutog njihala

undergraduate thesis

• Title (english): Inverted pendulum simulation
• Author: Dana Dodigović
• Mentor: Željka Mihajlović (mentor)
• Committee member: Željka Mihajlović (predsjednik povjerenstva)
• Committee member: Marko Đurasević (član povjerenstva)
• Committee member: Hrvoje Nuić (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; Computing

Abstract

Sustav okrenutog njihala je jedan od čestih sustava koji se koriste u svrhu
prikaza sustava upravljanja. Takav sustav je moguće proširiti iz
dvodimenzionalnog prostora u trodimenzionalni uz povećanja složenosti poput okreljivosti zgloba i slično. Kako bi se mogli razumjeti složeniji koncepti u sklopu ovog rada je opisan osnovni model i prikazana simulacija okrenutog njihala na kolicima u modernom OpenGL-u uz implementaciju fizike iz dviju diferencijalnih jednadžbi drugog reda. Jednadžbe su riješene numeričkom metodom integracije Dormand-Prince. Implementirano je kretanje tipkovnicom i algoritmom gradijentnog spusta. Naglasak rada je, uz opis sustava, i programsko ostvarenje u jeziku C++.

Abstract (english)

Inverted pendulum system is a common system used for control demonstration. Such system is extendable from 2D space to 3D space with complexity enhancements such as adding rotary joint. With intention to understand more complex inverted pendulum systems, this thesis describes basic model with graphic simulation of inverted pendulum on cart. Graphics is implemented using modern OpenGL. Physics is described by two second-order differential equations and solved using Dormand-Prince method for numerical integration. Two types of movement are implemented: one is basic movement using arrow keys and other is based
on gradient descent algorithm. Proposed inverted pendulum model is
realized using C++ programming language.

• Keywords: okrenuto njihalo; simulacija; OpenGL; C++; ODEINT; numerička integracija; Dormand-Prince metoda; upravljanje; gradijentni spust
• Keywords (english): inverted pendulum; simulation; OpenGL; C++; ODEINT; numerical integration; Dormand-Prince method; control; gradient descent algorithm
• Language: croatian
• URN:NBN: urn:nbn:hr:168:942338
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 17:38:04