Upravljački algoritam za podupravljane mehaničke sustave s uključenom dinamikom pogona

doctoral thesis

• Title (english): Control algorithm for underactuated mechanical systems with included actuators dynamics
• Author: Tihomir Žilić
• Mentor: Mario Essert (mentor)
• Mentor: Željko Šitum (komentor)
• Committee member: Branko Novaković (predsjednik povjerenstva)
• Committee member: Mario Essert (član povjerenstva)
• Committee member: Željko Šitum (član povjerenstva)
• Committee member: Joško Petrić (član povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2010-06-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Basic Technical Sciences; Automatics
• Universal decimal classification (UDC): 621 - Mechanical engineering. Nuclear technology. Machinery

Abstract

U ovom radu izvodi se opći upravljački algoritam za istodobno stabiliziranje i praćenje trajektorija podupravljanih nelinearnih mehaničkih sustava (UNMS) s električnim, pneumatskim i hidrauličkim pogonima (aktuatorima). Istodobna stabilizacija i praćenje trajektorija odnosi se na stupnjeve slobode gibanja sustava, a obuhvaćaju se neholonomni sustavi drugog reda i sustavi sa spregom ulaznih veličina. Algoritam rješava probleme koji nastaju zbog podupravljanosti, zanemarivanja dinamike pogona i zanemarivanja statičkog trenja. S njim su poboljšane značajke zatvorenog upravljačkog kruga u odnosu na sustave sa zanemarenom dinamikom pogona i/ili zanemarenim statičkim trenjem kakvi se često koriste. Rješavanje ovakvih problema zahtijeva upravljačke algoritme temeljene na regulatorima s promjenjivom strukturom. Matematička jednostavnost novo uvedenog algoritma omogućuje laku ugradnju u računalne programe, pa je algoritam pogodan za realizaciju u praksi. Značaj ovog istraživanja leži u upravljačkom zakonu koji svojom uporabom omogućuje upravljanje proizvoljno odabranim stupnjevima slobode gibanja sustava s ciljem zadovoljenja kvalitativnih značajki regulacije. To rezultira stabilnim i robusnim ponašanjem podupravljanih sustava.

Abstract (english)

Control algorithm for simultaneous stabilizing and trajectory tracking of underactuated nonlinear mechanical systems (UNMS) with electrical, pneumatic and hydraulic actuators is carried by the paper. Simultaneous stabilization and trajectory tracking refer to degrees of freedom of the system, where UNMS include second order nonholonomic systems and systems with input coupling. The algorithm solves problems that arise due to the underactuation, neglecting actuators dynamics and neglecting static friction. By use of the algorithm, the closed loop system achieves better performances than the systems with neglected actuator dynamics and/or neglected static friction, as often the case is. Control algorithms based on the variable structure controllers are needed for solving these problems. Mathematical simplicity of the new algorithm enables simple implementation in computer applications and because of that the algorithm is suitable for putting into practice. The paper is significant due to the control law; it enables control of arbitrary chosen degrees of freedom aiming to meet the qualitative performances of control. The result is stable and robust behaviour of the underactuated systems.

• Keywords: podupravljani nelinearni mehanički sustavi; nelinearno upravljanje; pneumatski pogoni; hidraulički pogoni; električni pogoni
• Keywords (english): underactuated nonlinear mechanical systems; nonlinear control; pneumatic; hydraulic and electric actuators
• Language: croatian
• URN:NBN: urn:nbn:hr:235:135327
• Study programme: Title: Mechanical Engineering and Naval Architecture; Study programme type: university; Study level: postgraduate; Academic / professional title: doktor/doktorica znanosti, područje tehničkih znanosti (doktor/doktorica znanosti, područje tehničkih znanosti)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2020-06-30 12:27:13