Design and implementation of a rotary inverted pendulum control system

Magistrsko delo se osredotoča na načrtovanje in izvedbo krmilnega sistema za vodenje rotacijskega invertiranega nihala. Invertirano nihalo je zelo pogost laboratorijski eksperiment, kjer lahko izvajamo in testiramo različne regulacijske algoritme. Za izvedbo krmilnega sistema je bila uporabljena krmilna in programska oprema proizvajalca Mitsubishi. Delo zajema postopke načrtovanja sistema vodenja, izpeljavo matematičnega modela rotacijskega invertiranega nihala ter načrtovanje mehanskih sklopov in električnih povezav. Podrobno je opisana zasnova in izvedba regulacijskih algoritmov. Za potrebe simulacije je še dodatno poudarjena in predstavljena kaskadna PID-PID regulacijska shema. Na podlagi izpeljanega matematičnega modela je izdelan simulacijski model v okolju Matlab – Simulink. Rezultati so predstavljeni v obliki grafikonov, različnih odzivov notranje in zunanje zaprtozančne zanke. Vsi postopki načrtovanja so nazorno slikovno in besedno predstavljeni. Nazorno in pregledno so podane tudi osnovne funkcije in tehnike programiranja ter zagon projekta, s katerim dosežemo ročno hitrostno vodenje servomotorja s servoregulatorjem in PLC krmilnikom. Ustvarjen je HMI vmesnik za prikazovanje osnovnih podatkov, kot so način vodenja, hitrost motorja, položaj motorja in parameteri za detektiranje napak servokrmilnika. Na ekranu sta dodana še indikatorja končnih položajev in tipki za vodenje v hitrostnem režimu. Cilj je bil ustvariti krmilno vezje, ki je namenjeno nadaljnji laboratorijski uporabi. Postopki načrtovanja in izvedbe so podrobno opisani, zato je naloga primerna tudi za začetnike na področju avtomatizacije, saj so vsi postopki hitro in enostavno ponovljivi.The Master\u27s thesis focuses on the design and implementation of a control system for guiding a rotary inverted pendulum. The inverted pendulum is a very common laboratory experiment where we can implement and test different control algorithms. Mitsubishi control and software was used to implement the control system. The work includes the planning procedures of the control system, the derivation of the mathematical model of the rotary inverted pendulum, and the design of mechanical assemblies and electrical connections. The design and implementation of control algorithms is described in detail. For simulation purposes, the cascade PID-PID control scheme is additionally highlighted and presented. Based on the derived mathematical model, a simulation model is created in the Matlab - Simulink environment. The results are presented in the form of graphs, different internal and external closed-loop responses. All planning procedures are clearly presented in pictures and words. The basic functions and programming techniques are also given clearly and transparently, as well as the start of the project, with which we achieve manual speed control of the servo motor with a servo regulator and a PLC controller. An HMI interface is created to display basic data such as control mode, motor speed, motor position and servo fault detection parameters. Indicators of end positions and keys for guidance in speed mode have also been added to the screen. The goal was to create a control circuit intended for further laboratory use. The planning and execution procedures are described in detail, so the task is also suitable for beginners in the field of automation, as all procedures are quickly and easily repeatable