Decentralizirano upravljanje elastično povezanim elektromehaničkim sustavima kolica na klackalici

master's thesis

• Title (english): Decentralized control of elastically interconnected electromechanical seesaw cart system
• Author: Tin Mihaljevski Boltek
• Mentor: Vladimir Milić (mentor)
• Committee member: Josip Kasać (predsjednik povjerenstva)
• Committee member: Joško Deur (član povjerenstva)
• Committee member: Mario Hrgetić (član povjerenstva)
• Committee member: Vladimir Milić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2021-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Ovaj rad bavi se implementacijom decentraliziranog robusnog zakona upravljanja koji postiže H∞ performanse na nelinearni mehanički sustav sastavljen od tri nelinearno spregnute klackalice s pomičnom masom. Izveden je matematički model sustava Euler-Lagranegeovom metodom i prikazan je u obliku prostora stanja. Provedena je sinteza regulatora, koja je zajedno s modelom implementirana u Matlab, gdje su izračunata optimalna pojačanja regulatora i observera i simulacijama prikazani odzivi sustava. Odabrana pojačanja implementirana su u eksperimentalni postav, za koji je dorađen već postojeći C++ kod. Također prikazani su i eksperimentalni rezultati.

Abstract (english)

This thesis is concerned with the implementation of a decentralized robust control law that achieves H∞ performances for nonlinear mechanical system composed of three nonlineary interconnected seesaw-cart systems. A mathematical model of the system is derived by the Euler-Lagrages method and then is transferred in the form of a state space. Control law is synthesised and implemented into Matlab together with a mathematical model of a system. Optimal solutions are calculated and optimal controller and observer gains are used to simulate system the response of the seesaw-cart system with proposed control strategy. Selected gains are implemented into existing C++ code and on an experimental system. Experimental results are given and discussed.

• Keywords: međusobno spregnuti mehanički sustavi; decentralizirano upravljanje; H∞ sinteza; linearne matrične nejednadžbe
• Keywords (english): interconnected mechanical systems; decentralized control; H∞ syntesis; LMI
• Language: croatian
• URN:NBN: urn:nbn:hr:235:839490
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2021-07-12 08:45:11