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Control Design of the Rotation Inverted Pendulum
Cejpek, Zdeněk ; Němec, Zdeněk (referee) ; Matoušek, Radomil (advisor)
Aim of this thesis is building of a simulator model of a rotary (Furuta) pendulum and design of appropriate regulators. This paper describes assembly of a nonlinear simulator model, using Matlab–Simulink and its library Simscape–Simmechanics. Furthermore the paper discuss linear discrete model obtained from the system response, using least squares method. This linear model serves as aproximation of the system for designing of two linear discrete state space regulators with sumator. These regulators are supported by a simple swing–up regulator and logics managing cooperation.
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Design and implementation of educational model Ball and beam
Križan, Jakub ; Zavadinka, Peter (referee) ; Grepl, Robert (advisor)
This thesis is focused on problem of construction, control and identification of educational model ,,ball on beam“. First part mentions options of mechanical realisation with regard to already existing models and investigates possibilities of realization of drive and sensors. Second part is focused on electronics with regard to connection to data acquisition board MF624. Last parts describe the control and estimation of model parameters.
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Control Design of the Rotation Inverted Pendulum
Cejpek, Zdeněk ; Němec, Zdeněk (referee) ; Matoušek, Radomil (advisor)
Aim of this thesis is building of a simulator model of a rotary (Furuta) pendulum and design of appropriate regulators. This paper describes assembly of a nonlinear simulator model, using Matlab–Simulink and its library Simscape–Simmechanics. Furthermore the paper discuss linear discrete model obtained from the system response, using least squares method. This linear model serves as aproximation of the system for designing of two linear discrete state space regulators with sumator. These regulators are supported by a simple swing–up regulator and logics managing cooperation.
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Design and implementation of educational model Ball and beam
Križan, Jakub ; Zavadinka, Peter (referee) ; Grepl, Robert (advisor)
This thesis is focused on problem of construction, control and identification of educational model ,,ball on beam“. First part mentions options of mechanical realisation with regard to already existing models and investigates possibilities of realization of drive and sensors. Second part is focused on electronics with regard to connection to data acquisition board MF624. Last parts describe the control and estimation of model parameters.
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