20.500.12556/RUL-148813 Nadgrajeni obroč s kroglico: razvoj modela in izdelava naprave Improved ball and hoop apparatus: the development of the model and the device V magistrskem delu je opisan razvoj modela in izdelava naprave nadgrajeni obroč s kroglico. Najprej smo v programskem okolju Autodesk Inventor Professional 2021 razvili osnovni 3D-model naprave in ga prenesli v okolje Simscape Multibody v programskem okolju Matlab-Simulink. S pomočjo 3D-modela smo izvedli poskuse in naredili primerjavo z matematičnim modelom, ki smo ga razvijali istočasno. Na podlagi matematičnega modela smo razvili regulator za adaptivno vodenje sistema. Rezultati poskusov so pokazali, da je naprava z osrednjim lovilnim delom izvedljiva v realnosti. Začetni 3D-model smo nadgradili in na podlagi le-tega izdelali napravo. Naprava je zgrajena iz več sestavnih delov. Osnovo sestavlja podstavek z elektroniko in električnimi povezavami. Na njem je elektroomara, ki zagotavlja električno energijo, in osrednji lovilni del, kjer sta nameščena servomotor in servoregulator, ki sukata obroč z notranjim lovilnikom. Na prednjem delu naprave je kamera Pixy s primerno osvetlitvijo. Z napravo lahko izvajamo različne poskuse ali testiramo uporabo regulatorjev v okolju Matlab-Simulink. Pri tem na vhodu podajamo vhodno hitrost in na izhodu spremljamo kot zasuka obroča in pozicijo kroglice, ki ju uporabljamo po lastnih željah. Pri opravljenem testiranju naprave z adaptivnim vodenjem smo izvedli uspešen met kroglice v notranji lovilnik. The master thesis describes the development of the model and the production of the improved ball-and-hoop apparatus. First, a basic 3D model of the device was developed in Autodesk Inventor Professional 2021 and transferred to the Simscape Multibody environment in Matlab-Simulink. We conducted experiments with the 3D model and compared it with the mathematical model we developed at the same time. Based on the mathematical model, we developed a controller for adaptive control of the system. The results of the experiments show that the central catching device is feasible in reality. We upgraded the initial 3D model to create the device. The device is made up of several components. The base consists of a pedestal with electronics and electrical connections. There is an electric motor that provides the power, a central catch area where the servomotor and servo-controller are mounted to rotate the hoop with the inner trap. At the front of the device there is a Pixy camera with appropriate lighting. The device can be used to perform various experiments or to test the use of controllers in the Matlab-Simulink environment. At the input, we enter the input speed and at the output we monitor the angular displacement of the hoop and the position of the ball, which we use according to our own preferences. The adaptive controller was tested by successfully catching the ball in the inner trap. merjenje zasuka Autodesk Inventor Matlab Simulink Simscape Multibody PoKeys57U Pixy PixyMon servomotor servoregulator adaptivni regulator referenčni signal odziv naprave čas adaptacije turn measurement Autodesk Inventor Matlab Simulink Simscape Multibody PoKeys57U Pixy PixyMon servomotor servoregulator adaptive regulator reference signal device response adaptation time true false false Slovenski jezik Angleški jezik Magistrsko delo/naloga 2023-08-31 14:01:15 2023-08-31 14:01:17 2023-09-27 15:22:36 0000-00-00 00:00:00 2023 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 62370 165406723 Kodele_Jernej_-_Nadgrajeni_obroc_s_kroglico-_razvoj_modela_in_izdelava_naprave.pdf Kodele_Jernej_-_Nadgrajeni_obroc_s_kroglico-_razvoj_modela_in_izdelava_naprave.pdf 1 9507D72A0A4D56F722F36C1957ECA13A 4f074bdfedf5a211606375f5be8a7f86547a4f330572056be3914d84f4bee69e 186d51f0-47f6-11ee-af86-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=173173 Fakulteta za elektrotehniko 0 0 0