Razvoj sistema za uravnoteženje inverznega nihala

Hočevar, Pavel (author), Slavič, Janko (mentor)

Zaključno delo predstavlja rešitev teoretično neskončno dolge stabilizacije enoosnega inverznega nihala z uporabo reakcijskega kolesa, ki obsega tako pogonski kot kontrolni del. Kontrolni algoritem temelji na uporabi podatkov pridobljenih s pomočjo MEMS IMU zaznavala, s pomočjo katerih preko PID krmilnika krmilimo celotni sistem. Temelji na mikroračunalniku Raspberry Pi in programskem jeziku Python. V nalogi so predstavljena MEMS zaznavala ter kako jih rešiti z uporabo aktivne kalibracije ter postopek umerjanja PID krmilnika po metodi poskušanja.

• Language: Slovenian
• Keywords: mehatronika, inverzno nihalo, reakcijsko kolo, Raspberry pi, DC motor, PID krmilnik, MEMS zaznavalo
• Work type: Final paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [P. Hočevar]
• Year: 2022
• Number of pages: XIV, 48 f.
• PID: 20.500.12556/RUL-139128
• UDC: 004.451.25:681.5(043.2)
• COBISS.SI-ID: 121085443
• Publication date in RUL: 31.08.2022

Secondary language

• Language: English
• Title: Development of an inverse pendulum balancing sistem

Abstract

This thesis presents solution of theoretical infinitely long stabilisation of single axis inverted pendulum using single reaction wheel. It is comprised of both drive and control part. Control algorithm is based on data provided by MEMS IMU sensor for PID control. System is based on Raspberry Pi platform, running Python. We will investigate the problems of drift of MEMS sensors and how to solve them with the use of active calibration methods.

• Keywords: mechatronics, inverted pendulum, Reaction wheel, Raspberry pi, DC motor, PID controll, MEMS sensor