Persons at STU
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Basic information about a final thesisAdditional informationAdditional information about the final thesis follows. Click on the language link to display the information in the desired language.
|Language of final thesis:||Slovak|
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|Title of the thesis:||Predictive control of nonlinear mechatronic system|
|Summary:||Predictive control has been one of popular methods of control in recent years. Its main advantage is implementation of system's constraints in the control algorithm and quality of control also tends to be higher than one of standard types of regulators such as PID. Therefore, the presented paper is focused on the area of predictive control. The aim of the paper is to show the possibility of application of methods of predictive control also to nonlinear systems with fast dynamics. Part of the paper is processed generally and the findings can be applied to various dynamic systems. Within this part are processed themes of modeling of systems and predictive control based on the stabilized prediction. The knowledge is verified on a laboratory model of a rotating pendulum. The paper continues with an overview of methods, by which it is possible to swing up inverted pendulum into setting of an unstable equilibrium position. Next, the paper passes into the practical part, where the issue of construction of a pendulum is elaborated with focus on the main elements such as drive and measurement. Construction of the pendulum is resolved so as to enable to construct a model of a rotating pendulum and also a model of pendulum in version of pendubot with the use of the same components. Based on this laboratory model are stated two ways, from which a mathematical model of the system derives. The first model is obtained by using the equations of motion, the second uses the tool SimMechanics of the software package MATLAB Simulink. In the end there is a statement of results obtained with the use of selected control strategies in order to swing up and stabilize of the pendulum.|
|Key words:||mechatronic system, pendulum, predictive control|
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