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undergraduate thesis
Modeliranje regulacije sustava kuglice na gredi
2009. urn:nbn:hr:235:101009
Piljek, Petar
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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Piljek, P. (2009). Modeliranje regulacije sustava kuglice na gredi (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:101009

Piljek, Petar. "Modeliranje regulacije sustava kuglice na gredi." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2009. https://urn.nsk.hr/urn:nbn:hr:235:101009

Piljek, Petar. "Modeliranje regulacije sustava kuglice na gredi." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2009. https://urn.nsk.hr/urn:nbn:hr:235:101009

Piljek, P. (2009). 'Modeliranje regulacije sustava kuglice na gredi', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 21 January 2025, https://urn.nsk.hr/urn:nbn:hr:235:101009

Piljek P. Modeliranje regulacije sustava kuglice na gredi [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2009 [cited 2025 January 21] Available at: https://urn.nsk.hr/urn:nbn:hr:235:101009

P. Piljek, "Modeliranje regulacije sustava kuglice na gredi", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2009. Available at: https://urn.nsk.hr/urn:nbn:hr:235:101009

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Metadata
TitleModeliranje regulacije sustava kuglice na gredi
AuthorPetar Piljek
MentorŽeljko Šitum (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2009-09-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Problem regulacije poloþaja kuglice na gredi jedan je od klasičnih problema regulacije nelinearnih sustava. Cilj je dovesti kuglicu na þeljenu poziciju regulacijom momenta motora koji djeluje na gredu, dok se kuglica slobodno kreće po gredi. Korištenjem Euler-Lagrange-ove jednadþbe dobije se nelinearan matematički model sustava. Linearizacija tog modela oko radne točke daje linearni model sustava koji se zatim upotrebljava za projektiranje regulatora sustava. U svrhu regulacije koristi se kaskadna regulacija pomoću PID regulatora, linearni kvadratični regulator (LQR) i regulator minimuma varijance regulacijskog odstupanja (LQG regulator). Učinkovitost regulacije provjerena je simulacijama korištenjem Matlab aplikacije i njenih modula (Simulink i Real-Time Workshop), te eksperimentalnim putem na laboratorijskom modelu kuglice na gredi.
Keywords
Languagecroatian
URN:NBNurn:nbn:hr:235:101009
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsClosed access
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Created on2019-05-21 14:47:15