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The master’s thesis describes the development of a one-dimensional self-balancing system with an inertia wheel. The plan was to establish all the theoretical knowledge that was gathered throughout the process of studying at the University and to finish the practical model which has the ability to balance in one dimension. The paper contains a description of constructing the mechanical part of the pendulum, developed in SolidWorks software. It also contains the execution of the mathematical model of the inverted pendulum. The simulation was conducted in Matlab/Simulink software. Based on the results of the simulation, the design of the controller for the EC motor was made. Designed controllers and measured data required for the active balance of the system were implemented on the microcontroller STM32F4. To measure the angle and angle velocity, the gyroscope and accelerometer on the MPU6050 sensor were used. The results of the simulation and of the practical model are presented in this paper. Cilj naloge je bil povezati in prikazati znanje pridobljeno v procesu študija ter ustvariti realni model sistema, ki omogoča balansiranje v eni dimenziji. Diploma vsebuje opis celotnega sistema v katerem je predstavljen opis dela, izvedba kode v realnem času, omejitve sistema, meritve kota, filtriranje podatkov s Kalmanovim filtrom, kontrola motorja in povezava sistemskih komponent. Realni model inverznega nihala je zasnovan tako, da ga je mogoče stabilizirati z navorom ustvarjenim s spremembo vrtilne količine.Za načrtovanje regulatorjev je bilo potrebno izpeljati matematični model sistema. Na osnovi matematičnega modela smo načrtali tri tipe regulatorjev linearni regulator v prostoru stanj, Backstepping regulator in Sliding Mode regulator. Vsak regulator smo simulirali in nato implementirali na realni model. Robustnost ter učinkovitost vodenja smo testirali z zunanjo motnjo, ki je nihalo premaknila iz ravnovesne lege. Velikost odklona s katerega se je inverzno nihalo uspelo vrniti v ravnovesje, je bilo odvisno od izbranega regulatorja. Vsak načrtan in implementiran regulator je uspel stabilizirati sistem. |
