Mehatronički dizajn 3D inverznog njihala zasnovanog na načelu inercijalne sile

master's thesis

• Title (english): Mechatronic design of a self-balancing three-dimensional inertia wheel pendulum
• Author: Dominik Erić
• Mentor: Šandor Ileš (mentor)
• Committee member: Šandor Ileš (predsjednik povjerenstva)
• Committee member: Mario Vražić (član povjerenstva)
• Committee member: Zlatko Hanić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-13, Croatia

Abstract

Cilj ovog diplomskog rada je razviti i konstruirati nelinearni mehatronički postava oblika kocke, koji može skočiti s površine na jedan od svojih kutova i balansirati se samostalno. Simulacijski i eksperimentalni dio kocke razvijen je pomoću softvera SOLDIWORKS i MATLAB-ovog dodatka Simulink. Konačni postav kontrolira linearni kvadratni regulator. Kod je pisan u programskom okruženju STMCubeIDE koji je prilagođen za STM32 mikrokontrolere. Kod je pisan C programskom jezikom. Nakon simuliranja postava u Simulink-u započeto je građenje eksperimentalnog postava kojim su započeta mjerenja kojima se usavršava simulacijski postav kako bi se izračunala pojačanja regulatora. Također su odabrani aktuatori, senzori, mikroprocesor i kontroler glavnog aktuatora.
Simulacijski postav pokazuje da se postav može balansirati na bilo kojoj površini i izdržavati male pomake do 2 stupnja.

Abstract (english)

The aim of this master's thesis is to develop and construct a nonlinear mechatronic system in the form of a cube, which can jump from a surface to one of its corners and balancing autonomously. The simulation and experimental aspects of the cube are developed using SOLIDWORKS software and MATLAB's Simulink add-on. The final system is controlled by a linear quadratic regulator. The code is written in the STMCubeIDE programming environment, which is tailored for STM32 microcontrollers. The code is written in the C programming language. After simulating the system in Simulink, the construction of the experimental setup was initiated, and measurements were conducted to refine the simulated model and calculate the controller gains. Additionally, actuators, sensors, a microprocessor, and the main actuator controller were selected.
The simulation results demonstrate that the system can balance on any surface and withstand small disturbances up to 2 degrees.

• Keywords: LQR; samobalansirajuća kocka; SOLIDWORKS; Simulink; Simscape Multibody; teorija upravljanja; ugrađeni sustavi; 3D inverzno njihalo
• Keywords (english): LQR; self-balancing cube; SOLIDWORKS; Simulnik; Simscape Multibody; control theory; embedded systems; 3D inverted pendulum
• Language: croatian
• URN:NBN: urn:nbn:hr:168:769888
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-10-11 08:49:18