Return to search

Řízení pohybu rotačního inverzního kyvadla / Control of a rotational inverted pendulum

The goal of this work is modelling and design of an inverted pendulum prototype. The work presents a mathematical model of a rotary pendulum, modelling of a BLDC motors and also a 3D model of the pendulum prototype is present. The work mentions design of the state space controller and swing up control of the inverted pendulum. Dynamics obtained from the mathematical model is used to create a 3D dynamic model of a pendulum, with the use of the Simscape toolbox. The work deals with control of a BLDC motors with use of vector control. The algorithm is implemented on the CompactRIO platform. Later, hardware is developed, containing STMicroelectronis microcontroller, capable of replacing the CompactRIO platform.

Identiferoai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:413194
Date January 2020
CreatorsBednář, Ladislav
ContributorsPohl, Lukáš, Veselý, Libor
PublisherVysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií
Source SetsCzech ETDs
LanguageSlovak
Detected LanguageEnglish
Typeinfo:eu-repo/semantics/masterThesis
Rightsinfo:eu-repo/semantics/restrictedAccess

Page generated in 0.0021 seconds