Upravljanje obrnutim njihalom zasnovano na vizualnoj povratnoj vezi

undergraduate thesis

• Title (english): Visual feedback based control of inverted pendulum
• Author: Martin Radin
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Fetah Kolonić (član povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-06-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Na početku ovoga rada upoznali smo se sa sustavom obrnutog njihala,te njegovim matematičkim modelom. Proveli smo linearizaciju tog modela, te simulaciju u programskom okruženju MATLAB/Simulink. Nakon toga smo povezali kameru CMU cam 5 Pixy preko mikrokotrolera Arduino UNO sa računalom. Time nam je omogučeno da možemo primati informacije o položaju njihala,te tako provesti eksperiment pri kojemu održavamo ravnotežni položaj obrnutog njihala,upravljanog sa vizualnom povratnom vezom.

Abstract (english)

At the beginning of this work, we met with a system of inverted pendulum, and his mathematical model. We spent the linearization of the model and simulate it in programing environment MATLAB / Simulink. After that we connect the camera CMU cam 5 Pixy over microcontroller Arduino UNO with a computer. This has enables us, that we can receive information on the position of the pendulum and also conduct an experiment in which we maintain equilibrium position of inverted pendulum , managed with... More visual feedback . Less

• Keywords: obrnuto njihalo; mikrokontroler; kamera; povratna veza; regulator
• Keywords (english): inverted pendulum; microcontroller; camera; visual feedback; regulator
• Language: croatian
• URN:NBN: urn:nbn:hr:168:382625
• 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 00:17:36