Stabilizacija obrnutog njihala s zamašnjakom primjenom linearnog kvadratičnog regulatora

undergraduate thesis

• Title (english): Stabilization of inertia wheel pendulum using a linear quadratic regulator
• Author: Marko Mesarić
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Marko Švec (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-09-06, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu stabilizirali smo obrnuto njihalo sa zamašnjakom. Sustavom se upravlja DC motorom na koji je spojen zamašnjak. Prvo smo izmjerili mase i duljine sastavnica postojećeg modula. Za mjerenje momenta inercije modelirali smo zamašnjak u CAD programu koji nam daje te vrijednosti. Pomoću Lagrangeovih jednadžbi izveli smo diferencijalne jednadžbe gibanja. Linearizirali smo ih oko uspravnog položaja. Parametre regulatora smo dobili koristeći linearni kvadratični regulator koji uzima matrice stanja kao ulaze. Te parametre simuliramo u Matlabu na linearnom i nelinearnom modelu. Nakon što su simulacije potvrđene ispravnima provodimo eksperiment na fizičkom modulu pomoću mikrokontrolera spojenog na računalo i Simulink program. Kontrolirajući na taj način brzinu motora stabiliziramo njihalo u obrnutoj poziciji.

Abstract (english)

n this paper the goal was stabilization of inertia wheel pendulum. Control of the system is done using a DC motor on which the inertia wheel is mounted. Firstly we measured the masses and lengths of the parts comprising the physical module. For inertia calculation inertia wheel is modelled in a CAD software which provides the wanted values. Using Lagrange equations the equations of motion are derived. They are linearized about an upright position. Parameters of the regulator are obtained using linear quadratic regulator, which takes the state matrices as inputs, Simulations in Matlab using given parameters are carried out on linear and non-linear models. After simulations are verified the experiment is run on the physical module using a microcontroller connected to the computer running Simulink. Controlling the speed of a motor using this method pendulum is stabilized in an inverted postion.

• Keywords: Obrnuto njihalo; zamašnjak; matlab; simulink; lqr
• Keywords (english): Inverted pendulum; inertia wheel; matlab; simulink; lqr
• Language: croatian
• URN:NBN: urn:nbn:hr:168:918713
• 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: 2020-01-07 20:19:23