| Popis: |
Predstavljen je matematički model obrnutog njihala. U svrhu sinteze regulatora po varijablama stanja, model je lineariziran i validiran. Dana je teorijska pozadina regulatora po varijablama stanja i estimatora varijabli stanja. Sustav upravljanja prvo je simuliran u Simulinku, nakon čega je algoritam upravljanja implementiran na stvarnom mehatroničkom sustavu. The mathematical model of the inverted pendulum is presented. The model is linearized and validated for the purpose of state-space controller synthesis. The theoretical background of state variable controllers and state variable estimators is given. The control system was simulated in Simulink, after which the control algorithm was applied to the real mechatronic system. |
