Řízení inverzního kyvadla se servopohonem pomocí programovatelného automatu

Abstract

The thesis deals with the problem regarding kontrol of an inverted pendulum whose real model is situated in the laboratory NK317. The work contains the description and the analysis of particular parts of the real model. The verification of the simulated and the real model is also realised. In this work the identification of an inverted pendulum system is realised. To gain the mathematical model the second type of Lagrange equation is used. In program Simulink the creation of the nonlinear model from obtained equations and the resulting simulation are realised. Afterwards the system linearization about an equilibrium point is realised. It is described how to transfer the pendulum from its down position to its up position and how to stabilize it here. For this purpose the proposal of the control by the Fuzzy Logic Control and by the Quadratic Optimal Controller.