Modelování a prediktivní řízení inverzního kyvadla

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F70883521%3A28140%2F08%3A63507101" target="_blank" >RIV/70883521:28140/08:63507101 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Modelling and Predictive Control of Inverted Pendulum

Popis výsledku v původním jazyce

The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is obtained on base of mathematical physical analysis of the system. Unknownparameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model is designed in MATLAB/Simulink environment. The model was created with respect to most nonlinearities contained in the system. Nonlinearitiesare caused by fundamental principles of the system and by friction between individual parts of the system. Thus, the model is highly non-linear and therefore linearization around working point was performed and continuous linearized model was calculatedas well as its discrete version. The discrete linear model was used to design predictive controller which was also verified by real time experiments.

Název v anglickém jazyce

Modelling and Predictive Control of Inverted Pendulum

Popis výsledku anglicky

The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is obtained on base of mathematical physical analysis of the system. Unknownparameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model is designed in MATLAB/Simulink environment. The model was created with respect to most nonlinearities contained in the system. Nonlinearitiesare caused by fundamental principles of the system and by friction between individual parts of the system. Thus, the model is highly non-linear and therefore linearization around working point was performed and continuous linearized model was calculatedas well as its discrete version. The discrete linear model was used to design predictive controller which was also verified by real time experiments.

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2008

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

22nd European Conference on Modelling and Simulation

ISBN

978-0-9553018-5-8

ISSN

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e-ISSN

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Počet stran výsledku

1

Strana od-do

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Název nakladatele

European Council for Modelling and Simulation

Místo vydání

Dudweiler, Germany

Místo konání akce

Nicosia, Cyprus

Datum konání akce

3. 6. 2008

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

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