Projektiranje i upravljanje sustava kuglice na kotaču

undergraduate thesis

• Title (english): Design and control of a ball-on-wheel system
• Author: Jurica Mustać
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2017-03-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Kroz završni rad opisana je ideja i izvedba sustava kuglice na kotaču. Najprije je izveden dinamički model sustava primjenom odgovarajućih jednadžbi i izvršena njegova pretvorba u prostor stanja. Provedena je sinteza LQR regulatora te izvršena i objašnjena simulacija sustava u Simulink programskom okruženju. Slijedi prikaz konstruiranja same konstrukcije te tijek njene izrade. Objašnjavaju se komponente upravljačkog i mjernog dijela sustava. Komentirane su njihove karakteristike i prikazana njihova aplikacija na samom sustavu. Prikazan je razvijeni regulacijski algoritam koji je napisan u Arduino IDE programskom okruženju. Regulacijski algoritmi testirani su i na samoj izrađenoj maketi te su komentirani dobiveni rezultati.

Svrha ovog rada bila je izraditi nastavnu maketu koja objašnjava načine regulacije nestabilnih sustava te iskoristiti i primijeniti što više znanja i vještina stečenih do sada na fakultetu. Kroz rad su korišteni razni programski paketi i alati za obradu te je realizirani sustav ogledni primjer mehatroničkog sustava; fuzija strojarstva, elektronike i računarstva.

Abstract (english)

In the following thesis, the idea and implementation of the Ball and wheel system is discussed. A dynamical model of the system is created with the application of the appropriate equations, and it's transformation into the state space representation is shown. Synthesis of the LQR regulator is conducted and the simulation of the system is executed and explained in the Simulink enviroment. Furthermore, the design of the construction and the course of it's buildup is shown. Components of the control and measurement part of the system are introduced too. Their properties are explained and their application on the system is shown . The developed control algorithms in the Arduino IDE is shown too. Control algorithms are tested on the actual system and the results are commented.

The point of this thesis was to make a teaching model which explains control methods of the unstable systems and to use as many knowledge and skills aquired during the undergraduate studies. Throughout the thesis, many software packages and tools are used so the resulting system is a prime example of a mechatronic system; fusion of the mechanical, electrical and software engineering.

• Keywords: mehatronika; kuglica na kotaču; lqr regulator; podupravljani sustav; nastavna maketa
• Keywords (english): mechatronics; Ball and wheel; lqr regulator; underactuated systems; teaching model
• Language: croatian
• URN:NBN: urn:nbn:hr:235:677742
• Study programme: Title: 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 resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-22 18:45:20