| Popis: |
V magistrskem delu je predstavljena stabilizacija invertiranega nihala, vpetega na linearnem vodilu. Opisana je mehanska konstrukcija, izpeljava modela in vodenje invertiranega nihala, ki zajema zanihanje v pokončni položaj in pokončno stabilizacijo. Predstavljen je krmilni sistem SIMATIC S7-1500 in programska oprema TIA Portal, s katero je bilo izvedeno programiranje krmilnika. The master’s thesis aims to present stabilization of inverted pendulum fixed on a linear guide. Described are mechanical construction, the derivation of the model and control of inverted pendulum which involves swinging in upright position and upright stabilization. The control system SIMATIC S7-1500 and TIA Portal software by which programing of the controller was performed are also presented. |
