Nelinearno robusno upravljanje kranom s dva stupnja slobode gibanja

master's thesis

• Title (english): Nonlinear robust control of a crane with two degrees of freedom
• Author: Luka Šunjić
• Mentor: Josip Kasać (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-03-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Precision Mechanical Engineering

Abstract

U ovom radu razmatra se upravljanje kranom primjenom nelinearnih robusnih regulatora i usporedba njihovih performansi sa standardnim linearnim regulatorima. Nelinearni dinamički model krana izveden je na temelju Euler-Lagrangeove i Newton-Eulerove metode. Provedena je linearizacija nelinearnih dinamičkih jednadžbi i dobivene linearizirane jednadžbe prikazane su u obliku prostora stanja. Provedena je sinteza linearnog regulatora primjenom metode podešavanja polova kao i linearnog kvadratičnog regulatora. Uz pretpostavku mjerljivosti samo linearne i kutne pozicije, primjenom observera stanja estimirana je linearna i kutna brzina. Provedena je sinteza robusnog nelinearnog regulatora i robusnog nelinearnog regulatora s kliznim režimom rada. Simulacijski rezultati ilustriraju značajno bolje performanse nelinearnih regulatora u slučaju prisutnosti vanjskih poremećaja kao i u slučaju nepreciznog poznavanja parametara poput mase ovješenog tereta.

Abstract (english)

This thesis examines the crane control using nonlinear robust controllers and compares their performance with standard linear controllers. The nonlinear dynamic model of the crane is derived based on the Euler-Lagrange and Newton-Euler methods. Linearization of the nonlinear dynamic equations is conducted, and the resulting linearized equations are represented in state-space form. The synthesis of a linear controller is performed using pole placement method as well as a linear quadratic regulator. Assuming measurability of only linear and angular positions, linear and angular velocities are estimated using state observers. The synthesis of a robust nonlinear controller and a robust nonlinear sliding mode controller is carried out. Simulation results illustrate significantly better performance of nonlinear controllers in the presence of external disturbances as well as in cases of imprecise parameter knowledge such as the mass of the suspended load.

• Keywords: kran s dva stupnja slobode gibanja; linearna regulacija; observer stanja; robusna nelinearna regulacija; robusna nelinearna regulacija s kliznim režimom rada
• Keywords (english): gantry crane with two degrees of freedom of motion; linear control; state observer; robust nonlinear control; sliding mode control
• Language: croatian
• URN:NBN: urn:nbn:hr:235:887404
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-03-25 14:55:13