Design of control system for laboratory gyroscope model

U ovom radu prikazano je projektiranje žiroskopa s 3 stupnja slobode. Objašnjeni su postupci 3D modeliranja u alatu Autodesk Fusion 360, te kako 3D printeri od STL datoteke naprave fizički objekt. Izrađen je matematički model žiroskopskog sustava, te je napravljena simulacija u Matlabu koja omogućuje jednostavnu promjenu parametara sustava. Izradom regulatora uklonjene su oscilacije kuta žiroskopske precesije pri pomaku baze, te je utvrđeno ponaša li se sustav u skladu s očekivanjima.In this thesis a laboratory gyroscopic setup was designed in Autodesk Fusion 360. It was explained how 3D printers create real models from computer data. The mathematical model of a system was made so that all parameters can easily be changed and it was simulated in Matlab with the demonstration of the effect every parameter has on the system. The regulator goal was to remove the oscillations from the angle of the gyroscopic precession, and that was done using the pole placement method. At the end it was determined whether the system acted according to the expectations