Design and control of a flywheel inverted pendulum

Tema ovog diplomskog rada je konstrukcija i upravljanje inverznog njihala sa zamašnjakom. U radu je dan pregled laboratorijskih postava na bazi inverznih njihala kakvi se uobičajeno koriste za testiranje efikasnosti upravljačkih algoritama. Napravljena je razrada i konstrukcija laboratorijskog postava inverznog njihala sa zamašnjakom u CAD softveru. Odabrane su standardne komponente potrebne za izradu sustava. Matematički model dinamike sustava izveden je Euler-Lagrangovom metodom pri čemu je uključena i diferencijalna jednadžba elektromotora. Nakon što je dobiven realni model sustava provedena je linearizacija i sustav je zapisan u obliku prostora stanja. Simulacije sustava provedene su Matlabu i Simulinku. Analizom ponašanja sustava i izračunom polova pokazano je da je sustav nestabilan. Napravljena je sinteza regulatora kako bi sustav mogao pratiti željene referentne vrijednosti. Za regulacije sustava u zatvorenom krugu korišteni su PID, linearni kvadratični i ∞ regulator. Simulacije su pokazale da sve tri metode regulacije uspješno dovode sustav u referentni položaj.The topic of this master thesis is design and control of a flywheel inverted pendulum. The thesis provides an overview of experimental setups based on inverted pendulums commonly used to test the efficiency of control algorithms. The elaboration and design of the experimental setup of the flywheel inverted pendulum in the CAD software was made. The standard components needed for the system have been selected. Mathematical model of system dynamics was derived by Euler-Lagrange method, including the differential equation of electric motor. After a realistic model of the system was derived, linearization was performed and the system was given in state space form. System simulations were performed using Matlab and Simulink. Behavior analysis of the system and poles calculation showed that the system is unstable. A synthesis of the controller was made in order for the system to be able to follow the desired reference values. PID, linear quadratic and ∞ controller were used for system control in closed circuit. Simulations have shown that all three control methods were able to successfully bring the system to the reference position