Nadgrajeni obroč s kroglico: razvoj modela in izdelava naprave

Kodele, Jernej (author), Karer, Gorazd (mentor), Bošnak, Matevž (comentor)

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.

• Language: Slovenian
• Keywords: merjenje zasuka, Autodesk Inventor, Matlab, Simulink, Simscape Multibody, PoKeys57U, Pixy, PixyMon, servomotor, servoregulator, adaptivni regulator, referenčni signal, odziv naprave, čas adaptacije
• Work type: Master's thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2023
• PID: 20.500.12556/RUL-148813
• COBISS.SI-ID: 165406723
• Publication date in RUL: 31.08.2023

Secondary language

• Language: English
• Title: Improved ball and hoop apparatus: the development of the model and the device

Abstract

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.

• Keywords: turn measurement, Autodesk Inventor, Matlab, Simulink, Simscape Multibody, PoKeys57U, Pixy, PixyMon, servomotor, servoregulator, adaptive regulator, reference signal, device response, adaptation time