prikaz prve stranice dokumenta Stabilizacija obrnutog njihala zasnovanog na načelu inercijalne sile
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undergraduate thesis
Stabilizacija obrnutog njihala zasnovanog na načelu inercijalne sile
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:017220
Krnjajić, Ema Kristina
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Krnjajić, E. K. (2021). Stabilizacija obrnutog njihala zasnovanog na načelu inercijalne sile (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:017220

Krnjajić, Ema Kristina. "Stabilizacija obrnutog njihala zasnovanog na načelu inercijalne sile." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:017220

Krnjajić, Ema Kristina. "Stabilizacija obrnutog njihala zasnovanog na načelu inercijalne sile." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:017220

Krnjajić, E. K. (2021). 'Stabilizacija obrnutog njihala zasnovanog na načelu inercijalne sile', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 07 September 2024, https://urn.nsk.hr/urn:nbn:hr:168:017220

Krnjajić EK. Stabilizacija obrnutog njihala zasnovanog na načelu inercijalne sile [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 September 07] Available at: https://urn.nsk.hr/urn:nbn:hr:168:017220

E. K. Krnjajić, "Stabilizacija obrnutog njihala zasnovanog na načelu inercijalne sile", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:017220

Metadata
TitleStabilizacija obrnutog njihala zasnovanog na načelu inercijalne sile
Title (english)Stabilization of an inertia wheel inverted pendulum
AuthorEma Kristina Krnjajić
MentorŠandor Ileš (mentor)
Committee memberŠandor Ileš (član povjerenstva)
Committee memberJadranko Matuško (član povjerenstva)
Committee memberBojan Spahija (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-07-09, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Cilj rada bio je izraditi regulator koji stabilizira obrnuto njihalo na načelu inercijalne sile. Sustav sadrži beskolektorski istosmjerni motor na koji je postavljen zamašnjak. Provedena su mjerenja dimenzija i parametara stvarnog postava. Izveden je matematički model koji opisuje vladanje sustava i lineariziran je oko uspravnog položaja njihala. Regulator je sintetiziran metodom postavljanja polova, a odzivi sustava su simulirani u Matlabu i Simulinku. Nakon simulacije regulator je diskretiziran i prilagođen za izvođenje na mikroupravljaču Arduino Uno.
Abstract (english)
The goal of this assignment was to create a regulating algorithm for stabilizing the inertia wheel inverted pendulum. The system consists of a BLDC motor and inertia wheel, which is mounted on the motor shaft. Parameters of the system are measured on the physical module. Using Lagrange equations, the equations of motion are derived and linearized about an upright position. The system regulator was created via the pole placement method. System response is simulated in Matlab and Simulink. After simulation, the regulator was discretized, and then modified for the Arduino Uno microcontroller.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:017220
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
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File originBorn digital
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Created on2023-01-14 20:53:36