Design of a laboratory ball and plate system using mechatronic design approach

U ovom radu predstavljen je postupak mehatroničkog projektiranja laboratorijskog postava kuglice na pokretnoj platformi namijenjenog za eksperimentalne provjere naprednih postupaka upravljanja. Predstavljeni postupak projektiranja sastoji se od nekoliko cjelina i to: projektiranja mehaničkog, električnog i računalnog dijela sustava. Mehanički dio sustava projektiran je korištenjem alata SolidWorks. Kao računalna platforma za implementaciju upravljačkog algoritma odabran je STM32f4 Discovery zbog povoljnog omjera performansi i cijene. Nakon izrade sustava razvijen je odgovarajući matematički model njegovog vladanja kao podloga za projektiranje sustava upravljanja. Na temelju razvijenog modela sustava u radu je projektiran linearni kvadratični regulator. Dobiveni regulator je implementiran na STM32f4 Discovery platformu i eksperimentalno provjeren.The process of mechatronic design for laboratory ball on plate system intended for experimental testing of advanced control processes was introduced in this thesis. Presented design procedure consists of several parts, namely: the design of mechanical, electrical and computing system part. Mechanical part of the system was designed using SolidWorks tool. STM32f4 Discovery was selected as computing platform for the implementation of the control algorithm because of the favorable performance and price ratio. After developing desired system, appropriate mathematical model was designed as the basis for designing control systems. On the basis of the system's model in thesis was designed linear quadratic regulator. The resulting controller was implemented on STM32f4 Discovery platform and experimentally tested