Nonlinear control of a one-dimensional self-balancing system with an inertia wheelMarko Boršić
, 2019, magistrsko delo
Opis: The master’s thesis describes the development of a one-dimensional self-balancing system with an inertia wheel. The plan was to establish all the theoretical knowledge that was gathered throughout the process of studying at the University and to finish the practical model which has the ability to balance in one dimension. The paper contains a description of constructing the mechanical part of the pendulum, developed in SolidWorks software. It also contains the execution of the mathematical model of the inverted pendulum. The simulation was conducted in Matlab/Simulink software. Based on the results of the simulation, the design of the controller for the EC motor was made. Designed controllers and measured data required for the active balance of the system were implemented on the microcontroller STM32F4. To measure the angle and angle velocity, the gyroscope and accelerometer on the MPU6050 sensor were used. The results of the simulation and of the practical model are presented in this paper.
Ključne besede: modeling, inertia wheel, backstepping, state space, sliding mode
Objavljeno: 29.03.2019; Ogledov: 1087; Prenosov: 207
Celotno besedilo (3,00 MB)
SWITCHED CAPACITOR-BOOST CONVERTER FOR THERMOELECTRIC SYSTEMLeon Maruša
, 2015, magistrsko delo
Opis: The purpose of this work was to develop and test the switched capacitors-boost converter (SC-BC), which can be used for stepping up voltage by a factor of at least ten driving energy harvesting applications. Extensive mathematical modelling of SC-BC was done for obtaining its nonlinear model and equations of multiple static characteristics. Simulations of SC-BC and its simplified models were done within a PSIM environment. The choice was made for closed-loop to use the combination of a PI controller and sliding mode control due to the robustness requirements and excellent closed-loop dynamics. Control was implemented on digital signal processor TMS320F28335 within a MATLAB/SIMULINK environment. Lastly the open and closed-loop experiments were done on a real SC-BC prototype.
Ključne besede: switched capacitors, boost converter, sliding mode control, energy harvesting, mathematical modelling
Objavljeno: 14.10.2015; Ogledov: 1288; Prenosov: 152
Celotno besedilo (5,47 MB)
Bilateral teleoperation by sliding mode control design approachAleš Hace
, 2008, izvirni znanstveni članek
Opis: Sliding mode control has been used extensively in robotics to cope with parameters uncertainty, model perturbations and system disturbance. Bilateral robotic teleoperators are often required to provide a haptic interaction in telerobotic applications in which human kinesthetic sense is stimulated locally by remote environment. The paper deals with bilateral control for a force-reflection master-slave telerobotic architecture. It involves a short overview of basic bilateral modes. Chattering-free SMC design procedure for force-reflecting master-slave teleoperator is presented. The proposed bilateral control scheme was experimentally validated for a 1DOF master-slave teleoperator.
Ključne besede: telerobotics, teleoperation, bilateral teleoperation, sliding mode control, remote control
Objavljeno: 31.05.2012; Ogledov: 1281; Prenosov: 319
Celotno besedilo (955,63 KB)
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SMC with disturbance observer for a linear belt driveAleš Hace
, Karel Jezernik
, Asif Šabanović
, 2007, izvirni znanstveni članek
Opis: Accurate position tracking control of a linear belt-driven servomechanism can cause vibrations in the drive response due to compliance and elasticity introduced by force transmission through the belt. This paper proposes a new control algorithm that has been designed by Sliding Mode Control theory. Though it has been proved to assure robust and vibration-free operation, position error peaks still appear at velocity reversals due to nonlinear friction phenomenon. Thus, the control scheme has been extended by asymptotic disturbance observer. The experiments presented in the paper show improved position tracking error response while maintaining vibration suppression.
Ključne besede: motion control, disturbance observer, sliding mode control, timing-belt drive, vibration suppression
Objavljeno: 31.05.2012; Ogledov: 1534; Prenosov: 91
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