Sinteza regulatora laboratorijskog mehatroničkog sustava metodom postavljanja polova

master's thesis

• Title (english): Laboratory mehatronic system controller design based on pole placement method
• Author: Dorian Šitum
• Mentor: Branimir Novoselnik (mentor)
• Committee member: Branimir Novoselnik (član povjerenstva)
• Committee member: Mato Baotić (član povjerenstva)
• Committee member: Vinko Lešić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovome radu obrađena je teorijska pozadina sinteze regulatora metodom postavljanja polova i njegova upotreba u stvarnom vremenu pri stvarnim uvjetima u laboratoriju. Matematički model koji opisuje dinamiku mehatroničkog sustava, rotacijskog inverznog njihala, izveden je i validiran. Nakon što su regulatori ispitani simulacijom, upravljanje je ostvareno na stvarnom sustavu u laboratoriju. Regulator projektiran metodom postavljanja polova korišten je kako bi se njihalom upravljalo u ovješenom i... More uspravnom položaju. Less

Abstract (english)

This thesis gives an overview of theoretical background of pole placement controller design and its application in real time in real conditions in laboratory. Dynamics of a mechatronic system, inverted rotary pendulum, is modeled mathematically. Mathematical model is then validated to confirm the validity of mathematical model. Designed controllers are then examined through simulation, after which were used to control the real system in laboratory. Controller designed with pole placement... More method is used to control the pendulum in both hung and upright positon. Less

• Keywords: mehatronički sustav; inverzno rotacijsko njihalo; metoda postavljanja polova; RST regulator
• Keywords (english): mechatronic system; inverted rotary pendulum; pole placement method; RST regulator
• Language: croatian
• URN:NBN: urn:nbn:hr:168:260346
• 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: 2023-01-14 10:03:46