Modeliranje i stabilizacija dvostrukog obrnutog njihala

undergraduate thesis

• Title (english): Modelling and stabilization of a double inverted pendulum
• Author: Rafaela Vujević
• Mentor: Nikola Mišković (mentor)
• Committee member: Nikola Mišković (predsjednik povjerenstva)
• Committee member: Filip Mandić (član povjerenstva)
• Committee member: Anja Babić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2015-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Sustav dvostrukog obrnutog njihala je tipični brzi, viševarijabilni, nelinearni, nestabilni i neminimalno fazni sustav. Cilj ovoga završnog rada je izvođenje kontinuiranog matematičkog modela za spomenuti sustav dvostrukog obrnutog njihala na kolicima čijim se pokretanjem ostvaruje stabilizacija njihala. Matematički model sustava, opisan pomoću Lagrangeove mehanike, implementiran je u MATLAB Simulinku te potom lineariziran oko nestabilne ravnotežne točke. Za linearizirani model, implementiran je neizraziti regulator koji stabilizira sustav oko nestabilne ravnotežne točke .

Abstract (english)

Inverted pendulum system is a typical rapid, multivariable, nonlinear, unstable and non-minimum phase system. The aim of this final paper is to derive a continious mathematical model for the above-mentioned double inverted pendulum system on a cart whose activation stabilizes the pendulum. The mathematical model of the system, described through Lagrenge mechanics, has been implemented in MATLAB Simulink and then linearized around unstable equilibrium point. As for linear model of the system, a fuzzy controler has been implemented to stabilize the system around unstable equilibrium point.

• Keywords: dvostruko obrnuto njihalo; matematički model; Lagrangeova mehanika; linearizacija; stabilizacija; regulator
• Keywords (english): double inverted pendulum system; mathematical model; Lagrange mechanics; linearization; stabilization; controler
• Language: croatian
• URN:NBN: urn:nbn:hr:168:050744
• 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: 2018-02-06 14:26:32