National Repository of Grey Literature 3 records found  Search took 0.01 seconds. 
Design of electronic control unit for rotational inverted pendulum
Sopoušek, Radek ; Appel, Martin (referee) ; Brablc, Martin (advisor)
The scope of this thesis is to create a dynamic model of the pendulum, design the control in inverse position, implement the swing-up task and add a controlled fall to a stable position, design and integrate the hardware with the existing pendulum model and implement the control using a state machine. The reader is introduced to the elements of a real device. A model is analytically constructed to be used for parameter identification and control design. Swing-up control is implemented using the moment method and two energy methods representing single and multiple-swing behavior. In the inverse position, the pendulum is controlled using LQR controller. For controlled fall to stable position, PD controller is used. For control purposes, a developmental microprocessor board was selected and integrated into the existing model with minimal changes to the functionality. The control was performed using a state machine whose robustness to parameter changes was experimentally verified.
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.
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.

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