20.500.12556/RUL-97072 Razvoj krmilnega sistema inverznega nihala Development of controling system for inverted pendulum Inverzno nihalo je eden najbolj uporabljanih krmilnih sistemov za namene poučevanja. Za pedagoške naloge je primeren, ker je nestabilen, torej potrebuje krmiljenje, da se obdrži v ravnovesni legi. Poleg tega pa je tudi zanimiv, saj je v osnovi zelo podoben modelu rakete. V okviru diplomske naloge je model inverznega nihala že podan, zasnovali in izdelali pa smo realni sistem. Posebno pozornost smo namenili izbiri elektromotorja, ki je moral biti dovolj močan, da je obdržal nihalo v ravnovesni legi. Prav tako je bil tekom izdelave poudarek na izbiri senzorja za merjenje kota naklona nihala. V poglavju z rezultati smo prikazali rezultate za različne algoritme. Inverse pendulum is one of the most commonly used control system for educational purposes. On one side, it is instructive because it is unstable and therefore needs a feedback for stability. On the other side, it is interesting because its model is similar to the model of a rocket. Within the thesis the model of the inverse pendulum is first given. Then the real system is designed and build. A special care was made in order to select electric motors powerful enough to maintain the pendulum in the equilibrium position. During the design stage an emphasis was given to select an appropriate sensor for the measurement of the deflection angle of the rod of the pendulum. In the Results chapter an analysis of results for various controller algorithms is given. inverzno nihalo stabilnost sistemov mikrokrmilniki elektromotorji senzorji Inverted pendulum system stability microcontrollers electric motors sensors true false false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2017-10-19 07:15:12 2017-10-19 07:15:17 2023-11-14 09:53:35 0000-00-00 00:00:00 2017 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 202112 1314.pdf 1314.pdf 1 6B5FE188C5BB5AD4895DB882B158EBB6 b44c86249c668f67c98ddae1ec114063a8fd2b5225e2652927294b0315046e1b 123d0529-a1b4-11eb-a523-00155dcfd717 20.500.12556/rul/8e3b905d-209f-45ea-ac26-f4267f94dd59 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=105929 Fakulteta za strojništvo 0 0 0