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Návrh a realizace demonstračního modelu dvojítého kyvadla / Design and implementation of demonstration model "double inverted pendulum"

This thesis describes the process of rebuilding an experimental model of a single pendulum on a cart into the double pendulum on a cart. The control algorithm in MATLAB/Simulink environment for stabilization of the pendulum in the inverse position is designed. For this purpose, LQR state feedback control was implemented. Also method for swinging the pendulum into inverse position from stable state (swing-up) was designed. Feedforward method was utilised for swing-up control. In the thesis, functionality of these algorithms is shown.

Identiferoai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:378727
Date January 2018
CreatorsSlabý, Vít
ContributorsBrablc, Martin, Bastl, Michal
PublisherVysoké učení technické v Brně. Fakulta strojního inženýrství
Source SetsCzech ETDs
LanguageCzech
Detected LanguageEnglish
Typeinfo:eu-repo/semantics/masterThesis
Rightsinfo:eu-repo/semantics/restrictedAccess

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