Razvoj krmilnega sistema inverznega nihala

Jurašek, Aleksander (author), Podržaj, Primož (mentor)

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.

• Language: Slovenian
• Keywords: inverzno nihalo, stabilnost sistemov, mikrokrmilniki, elektromotorji, senzorji
• Work type: Bachelor thesis/paper
• Organization: FS - Faculty of Mechanical Engineering
• Year: 2017
• PID: 20.500.12556/RUL-97072
• Publication date in RUL: 19.10.2017

Secondary language

• Language: English
• Title: Development of controling system for inverted pendulum

Abstract

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.

• Keywords: Inverted pendulum, system stability, microcontrollers, electric motors, sensors