MODELIRANJE I UPRAVLJANJE SISTEMOM SA INVERZNIM KLATNOM NA KOLICIMA
DOI:
https://doi.org/10.24867/32BE26GalacKljučne reči:
Inverzno klatno na kolicima, Linearni model, Nelinearni model, PID regulator, Feedback linearizacijaApstrakt
U okviru ovog rada je obrađen sistem sa inverznim klatnom na kolicima. Izrvšeno je modelovanje sistema i dobijeni su nelinearni i linearizovan model. Ispitivane su dve tehnike upravljanja: PID regulator i linearizacija u povratnoj sprezi (feedback linearizacija). Izvršena je simulacija rada ovakvih sistema i analizirane su prednosti i nedostatci predloženih tehnika.
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