Konstrukcija i upravljanje inverznog njihala s propelerima

undergraduate thesis

• Title (english): Design and control of inverted pendulum using thrust propellers
• Author: Alen Šćuric
• Mentor: Andrej Jokić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-09-24, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom završnom radu predstavljen je konstrukcijski model sustava njihala sa dva propelera koji mogu mijenjati nagib te je izveden matematički model sa dva stupnja slobode gibanja. Model je izveden kombinacijom Euler-Lagrange metode i direktnim izvodom vanjskih sila koje djeluju na sustav. Dinamički model je potom lineariziran te prikazan u simulacijama u MATLAB/Simulink programu. Pomoću povratnih veza te regulatora na oba stupnja slobode gibanja, postignuto je upravljanje sustava te su simulirani odzivi za razne slučajeve ulaznih pobudnih signala.

Abstract (english)

In this final thesis a construction model of an inverted pendulum with two tilting thrust popellers is presented and the subsequent mathematical model with two degrees of freedom is derived. The mathematical model is derived using Euler-Lagrange formulations along with directly deriving forces that act on the system from the outside. The model is afterwards linearisied and the function and response of the system is simulated in the MATLAB/Simulink environment. Utilising negative feedback loops along with regulators on each controlled angle, full control of the system is achieved and the system is simulated on many different input signals.

• Keywords: nagibni rotor; tandem letjelica; dinamika letjelice; upravljanje njihala; računalna simulacija; MATLAB/Simulink
• Keywords (english): tiltrotor; tandem aircraft; birotor; aircraft dynamics; birotor control; computer simulations; MATLAB/Simulink
• Language: croatian
• URN:NBN: urn:nbn:hr:235:811071
• Study programme: Title: Mechatronics and Robotics; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-09-19 13:38:03