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National Repository of Grey Literature 2 records found  Search took 0.01 seconds. 
Inverted pendulum control
 Daněk, Petr ; Němec, Zdeněk (referee) ; Marada, Tomáš (advisor)
This diploma thesis deals with inverse pendulum control. There are described types of inverse pendulums, used power electronics, sensors and their connection to the MF624 control card and to external hardware. Further is described the identification of parameters, including the assembly of a custom algorithm for identification of viscous friction in the pendulum rotary coupling. For identification of moments of inertia are used 3D CAD models, where the thesis describes also use of these models for VRML visualization. The thesis also describes how to build a dynamic model by using Matlab-Simulink and the Simscape-Multibody toolbox. This model is further used in design of the controller using LQR and its simulation testing. The controller is complemented by swing-up algorithm, security elements and MF624 driver interface is designed. The control is tested on a real inverse pendulum assembly and implemented in external hardware.
Detailed record
Inverted pendulum control
 Daněk, Petr ; Němec, Zdeněk (referee) ; Marada, Tomáš (advisor)
This diploma thesis deals with inverse pendulum control. There are described types of inverse pendulums, used power electronics, sensors and their connection to the MF624 control card and to external hardware. Further is described the identification of parameters, including the assembly of a custom algorithm for identification of viscous friction in the pendulum rotary coupling. For identification of moments of inertia are used 3D CAD models, where the thesis describes also use of these models for VRML visualization. The thesis also describes how to build a dynamic model by using Matlab-Simulink and the Simscape-Multibody toolbox. This model is further used in design of the controller using LQR and its simulation testing. The controller is complemented by swing-up algorithm, security elements and MF624 driver interface is designed. The control is tested on a real inverse pendulum assembly and implemented in external hardware.
Detailed record

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