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National Repository of Grey Literature 2 records found  Search took 0.01 seconds. 
Modeling and analysis of laboratory rotational pendulum
 Nedvědický, Pavel ; Bastl, Michal (referee) ; Brablc, Martin (advisor)
This bachelor thesis aims at modelling, identification and control of Furuta pendulum. System was described via mathematical equations and simulation model was created in Matlab/Simulink. Parameters of rotary inverted pendulum were estimated using the simulation model. Then the thesis deals with swing up via torque impulse, energy control and PD regulator. In the part dealing with friction five compensation models were created. They include change of friction during rotation and one of them is dynamic model, Reset Integrator. Models were verified by adding them as an input to an actuator and testing them. To stabilize pendulum in inverted position state feedback control with state observer was designed using LQR method. Final regulation included all knowledge obtained during this thesis.
Detailed record
Modeling and analysis of laboratory rotational pendulum
 Nedvědický, Pavel ; Bastl, Michal (referee) ; Brablc, Martin (advisor)
This bachelor thesis aims at modelling, identification and control of Furuta pendulum. System was described via mathematical equations and simulation model was created in Matlab/Simulink. Parameters of rotary inverted pendulum were estimated using the simulation model. Then the thesis deals with swing up via torque impulse, energy control and PD regulator. In the part dealing with friction five compensation models were created. They include change of friction during rotation and one of them is dynamic model, Reset Integrator. Models were verified by adding them as an input to an actuator and testing them. To stabilize pendulum in inverted position state feedback control with state observer was designed using LQR method. Final regulation included all knowledge obtained during this thesis.
Detailed record

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