Návrh a realizace PIL a SIL simulátorů pro výukový fyzikální model inverzního kyvadla

Abstract

This work deals with issue of SIL and PIL simulation. The aim of the work is the design of SIL and PIL simulator for educational physical model of inverted pendulum. In the first part of thesis there is description of control system REX, which has been used for SIL and PIL simulator, which is working on Raspberry Pi. There is also described the issue of modeling and simulation which is followed by the chapter with description of mathematic model of the inverted pendulum. Models for simulators have been designed on basis of mathematic model. In the conclusion there is a comparation of the outputs from the simulator with the data from real pendulum.