Řízení modelu dvoučlánkového inverzního kyvadla
Loading...
Date
2022-06-14
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
V této diplomové práci se řeší problematika dvojitého inverzního kyvadla na vozíku od společnosti Quanser. Na začátku jsou popsány jeho vlastnosti a omezení. Cílem práce je nejen návrh řízení, aby bylo kyvadlo stabilizováno v horní poloze, ale také realizace nového kloubu spojujícího obě ramena kyvadla. Tím se zajistí lepší pohyblivost a otevřou se další možnosti řešení. Na 3D tiskárně vytištěný kloubní mechanismus byl navržen tak, aby byl co nejvíce modulární a uspořádání nebylo pouze jednoúčelové. Pro lepší pohyblivost kloubu je nutné zajistit bezdrátový přenos dat z kloubu do vytvořené přijímací stanice. Z té jsou údaje o natočení kyvadla opět posílány do původní měřicí karty od výrobce. Stabilizace kyvadla je řešena pomocí LQR regulace. Proto je nutné odvodit matematický model a následný stavový popis. Jsou popsány i různé modely tření, které se mohou při tvorbě modelu využít. Parametry modelu jsou identifikovány a naměřené průběhy úhlů jsou porovnány se simulacemi. V závěru je rozmyšlení nad realizací tzv. swing up procedury pro vyšvihnutí kyvadla z dolní do horní pozice.
This diploma thesis deals with the problem of a double inverted pendulum on a cart made by Quanser company. In the beginning, its properties and limitations are described. The aim of the work is not only the design of the control stabilizing the pendulum in the upper position, but also the implementation of a new joint connecting both arms of the pendulum. This will ensure better mobility and open up further solution options. The joint mechanism printed on the 3D printer was designed to be as modular as possible and the arrangement was not only single-purpose. For better joint mobility, it is necessary to ensure wireless data transmission from the joint to the created receiving station. The information about the pendulum angle is sent back from the receiving station to the original measuring card from the manufacturer.The stabilization of the pendulum is done by LQR regulation. Therefore, it is necessary to derive a mathematical model and a state-space representation. Various friction models are also described, which can be used in the model creation. The parameters of the model are identified and the measured angles are compared with the simulations. In the end, there is a reflection on the implementation of the swing-up procedure for lifting the pendulum from the lower to the upper position.
This diploma thesis deals with the problem of a double inverted pendulum on a cart made by Quanser company. In the beginning, its properties and limitations are described. The aim of the work is not only the design of the control stabilizing the pendulum in the upper position, but also the implementation of a new joint connecting both arms of the pendulum. This will ensure better mobility and open up further solution options. The joint mechanism printed on the 3D printer was designed to be as modular as possible and the arrangement was not only single-purpose. For better joint mobility, it is necessary to ensure wireless data transmission from the joint to the created receiving station. The information about the pendulum angle is sent back from the receiving station to the original measuring card from the manufacturer.The stabilization of the pendulum is done by LQR regulation. Therefore, it is necessary to derive a mathematical model and a state-space representation. Various friction models are also described, which can be used in the model creation. The parameters of the model are identified and the measured angles are compared with the simulations. In the end, there is a reflection on the implementation of the swing-up procedure for lifting the pendulum from the lower to the upper position.
Description
Subject(s)
Dvojité inverzní kyvadlo, stavové řízení, 3D tisk, LQR, Double inverted pendulum, state-space control, 3Dprint, LQR