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undergraduate thesis
Samobalansirajući robot na dva kotača
2022. urn:nbn:hr:122:384661
Radas, Filip
University North

Cite this document

Radas, F. (2022). Samobalansirajući robot na dva kotača (Undergraduate thesis). Koprivnica: University North. Retrieved from https://urn.nsk.hr/urn:nbn:hr:122:384661

Radas, Filip. "Samobalansirajući robot na dva kotača." Undergraduate thesis, University North, 2022. https://urn.nsk.hr/urn:nbn:hr:122:384661

Radas, Filip. "Samobalansirajući robot na dva kotača." Undergraduate thesis, University North, 2022. https://urn.nsk.hr/urn:nbn:hr:122:384661

Radas, F. (2022). 'Samobalansirajući robot na dva kotača', Undergraduate thesis, University North, accessed 21 December 2024, https://urn.nsk.hr/urn:nbn:hr:122:384661

Radas F. Samobalansirajući robot na dva kotača [Undergraduate thesis]. Koprivnica: University North; 2022 [cited 2024 December 21] Available at: https://urn.nsk.hr/urn:nbn:hr:122:384661

F. Radas, "Samobalansirajući robot na dva kotača", Undergraduate thesis, University North, Koprivnica, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:122:384661

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Metadata
TitleSamobalansirajući robot na dva kotača
Title (english)A self-balancing robot on two wheels
AuthorFilip Radas
MentorMiroslav Horvatić (mentor)
Committee memberIvan Šumiga (predsjednik povjerenstva)
Committee memberJosip Srpak (član povjerenstva)
Committee memberMiroslav Horvatić (član povjerenstva)
GranterUniversity North
Koprivnica
Defense date and country2022-09-28, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Samobalansirajući robot je mobilni robot koji ima dva kotača. Jedan se nalazi s lijeve, a drugi s desne strane pa robot neće biti u ravnoteži ako se ne kontrolira. Završni rad ima cilj izraditi samobalansirajući robot i dizajnirati sustav upravljanja koji može uravnotežiti robot. Komponenta koja se koristi kao ulaz je senzor MPU6050, a izlaz iz senzora u obliku kuta nagiba bit će obrađen pomoću mikrokontrolera. Dobiveni kut će se usporediti sa zadanom vrijednošću kuta koji iznosi 0 stupnjeva. Razlika između zadane vrijednosti i izlaznog kuta sustava kontrolira se pomoću PID regulatora. PID Kp, Kd i Ki vrijednosti regulatora će se odrediti pomoću Ziegler-Nichols-ove metode ruba stabilnosti.
Abstract (english)
A self-balancing robot is a mobile robot that has two wheels. One is on the left and the other on the right, so the robot will not be in balance if it is not controlled. The final work aims to create a self-balancing robot and design a control system that can balance the robot. The component used as the input is the MPU6050 sensor and the output from the sensor in the form of tilt angle will be processed by the microcontroller. The obtained angle will be compared with the default value of the angle which is 0 degrees. The difference between the setpoint and the output angle of the system is controlled by a PID controller. The PID Kp, Kd and Ki values of the controller will be determined using the Ziegler-Nichols stability margin method.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:122:384661
Study programmeTitle: Mechatronics
Study programme type: professional
Study level: undergraduate
Academic / professional title: stručni/a prvostupnik/ prvostupnica (baccalaureus/ baccalaurea) inženjer/ inženjerka mehatronike (stručni/a prvostupnik/ prvostupnica (baccalaureus/ baccalaurea) inženjer/ inženjerka mehatronike)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2023-02-07 09:38:51