Regulacija položaja slabo prigušenih inercijskih sustava

undergraduate thesis

• Title (english): Position control of low damped inertial systems
• Author: Toni Bešenić
• Mentor: Mladen Crneković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Process Energy Engineering

Abstract

Cilj ovog rada je proučavanje načina reguliranja položaja slabo prigušenih inercijskih sustava. Na
početku navodimo par primjera takvih sustava korištenih u praksi. Algoritam regulacije jednog
takvog sustava ćemo prikazati pomoću makete kuglice na kosini čiji se položaj može regulirati
pomoću senzora daljine kuglice, senzora nagiba, mikroupravljača te motora koji zakreće kosinu.
Tako se može prikazati djelovanje digitalnog PID regulatora na slabo prigušeni, podupravljani,
nelinearni sustav poput ove makete kuglice na kosini.[2]
Za ostvarenje makete je potrebno izvesti matematički model koji opisuje dinamiku sustava.
Izvedeni model ćemo zatim pojednostaviti i linearizirati kako bi ga lakše simulirali. Zatim slijedi
odabir komponenti koje će se koristiti u sustavu. Kada imamo opisanu dinamiku i specifikacije
odabranih komponenti možemo krenuti u konstrukcijsku razradu i izvedbu. Nakon fizičke izvedbe
dodajemo ostatak komponenti te programiramo mikroupravljač.

Abstract (english)

The aim of this work is to study the methods of controlling the position of lightly damped
inertial systems. At the beginning, we provide a few examples of such systems used in practice.
We will demonstrate the control algorithm of one such system using a model of a ball on an
incline, where the position of the ball can be controlled using a distance sensor, an inclination
sensor, a microcontroller, and a motor that tilts the incline. In this way, we can demonstrate the
operation of a digital PID controller on a lightly damped, underactuated, nonlinear system like
this ball-on-an-incline model.
To construct the model, it is necessary to develop a mathematical model that describes the
system’s dynamics. The developed model will then be simplified and linearized to facilitate
simulation. Next comes the selection of the components that will be used in the system. Once
the dynamics are described and the specifications of the selected components are defined, we can
proceed with the design and implementation. After the physical implementation, we add the
remaining components and program the microcontroller.

• Keywords: Slabo prigušeni inercijski sustav; regulacija; matematičko modeliranje; simulacija
• Keywords (english): Lightly damped inertial system; control; mathematical modeling; simulation
• Language: croatian
• URN:NBN: urn:nbn:hr:235:156877
• 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: 2024-09-20 09:03:21