Řízení a vizualizace fyzikálního modelu rotačního inverzního kyvadla s pomocí řídicího systému REX a I/O modulů B-R X20

Abstract

This paper describes the design and implementation of a physical model controller for a rotary inverted pendulum. Part of this work is to study the basic methods of synthesis of feedback control circuits and modern management methods. Further acquaintance with the mathematical and physical model of the pendulum. The key is the choice of the type of controller and its design. This controller is then simulated in REX + Simulink environment. This is followed by implementation of the proposed control algorithm using control system REX, BR Series X20 modules and single-PC with Linux/Xenomai. GUI is selected implemented by visualization system SCADA / HMI or using HTML5 technology.