Stabilizacija obrnutog njihala zasnovanog na načelu inercijalne sile

undergraduate thesis

• Title (english): Stabilization of an inertia wheel inverted pendulum
• Author: Ema Kristina Krnjajić
• Mentor: Šandor Ileš (mentor)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Jadranko Matuško (član povjerenstva)
• Committee member: Bojan Spahija (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Cilj rada bio je izraditi regulator koji stabilizira obrnuto njihalo na načelu inercijalne sile. Sustav sadrži beskolektorski istosmjerni motor na koji je postavljen zamašnjak. Provedena su mjerenja dimenzija i parametara stvarnog postava. Izveden je matematički model koji opisuje vladanje sustava i lineariziran je oko uspravnog položaja njihala. Regulator je sintetiziran metodom postavljanja polova, a odzivi sustava su simulirani u Matlabu i Simulinku. Nakon simulacije regulator je... More diskretiziran i prilagođen za izvođenje na mikroupravljaču Arduino Uno. Less

Abstract (english)

The goal of this assignment was to create a regulating algorithm for stabilizing the inertia wheel inverted pendulum. The system consists of a BLDC motor and inertia wheel, which is mounted on the motor shaft. Parameters of the system are measured on the physical module. Using Lagrange equations, the equations of motion are derived and linearized about an upright position. The system regulator was created via the pole placement method. System response is simulated in Matlab and... More Simulink. After simulation, the regulator was discretized, and then modified for the Arduino Uno microcontroller. Less

• Keywords: obrnuto njihalo; zamašnjak; matlab; simulink; metoda postavljanja polova
• Keywords (english): inverted pendulum; inertia wheel; matlab; simulink; pole placement method
• Language: croatian
• URN:NBN: urn:nbn:hr:168:017220
• 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: 2023-01-14 20:53:36