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undergraduate thesis
Modelsko prediktivno upravljanje elektromehaničkim sustavom kolica na klackalici
2022. urn:nbn:hr:235:997548
Mlakić, Marko
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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Mlakić, M. (2022). Modelsko prediktivno upravljanje elektromehaničkim sustavom kolica na klackalici (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:997548

Mlakić, Marko. "Modelsko prediktivno upravljanje elektromehaničkim sustavom kolica na klackalici." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:997548

Mlakić, Marko. "Modelsko prediktivno upravljanje elektromehaničkim sustavom kolica na klackalici." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:997548

Mlakić, M. (2022). 'Modelsko prediktivno upravljanje elektromehaničkim sustavom kolica na klackalici', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 15 March 2025, https://urn.nsk.hr/urn:nbn:hr:235:997548

Mlakić M. Modelsko prediktivno upravljanje elektromehaničkim sustavom kolica na klackalici [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2022 [cited 2025 March 15] Available at: https://urn.nsk.hr/urn:nbn:hr:235:997548

M. Mlakić, "Modelsko prediktivno upravljanje elektromehaničkim sustavom kolica na klackalici", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:235:997548

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Metadata
TitleModelsko prediktivno upravljanje elektromehaničkim sustavom kolica na klackalici
AuthorMarko Mlakić
MentorAndrej Jokić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2022-09-28, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Ovaj rad se bavi implementacijom MPC (engl. Model Predictive Control) regulatora nad nestabilnim elektromehaničkim sustavom kolica na klackalici. Matematičko modeliranje sustava je provedeno korištenjem Euler-Lagrangeove metode te prevođenjem dobivenih diferencijalnih jednadžbi u oblik prostora stanja. Zatim je kreiran MPC regulator koji stabilizira promatrani linearizirani model te, uz primjenu MATLAB-a, se formiraju odzivi sustava. Zatim slijedi prikaz simulacije u kojoj se ilustrira učinkovitost MPC-a tako što se odziv lineariziranog modela uspoređuje s nelinearnim. Dodatno, prikazani rezultati se također uspoređuju s još jednom metodom upravljanja procesa (LQR – engl. Linear Quadratic Regulator) kako bi se ilustrirala učinkovitost MPC regulatora.
Abstract (english)
This paper deals with the implementation of the MPC (Model Predictive Control) controller over an unstable seesaw-cart electromechanical system. Mathematical modeling of the system was performed using the Euler-Lagrange method and translating the obtained differential equations into state-space form. Then, an MPC controller is created that stabilizes the observed linearized model, and, with the application of MATLAB, system responses are formed. This is followed by a simulation showing the effectiveness of MPC by comparing the response of the linearized model to the nonlinear. Additionally, the presented results are also compared with another method of process control (LQR – Linear Quadratic Regulator) to illustrate the efficiency of MPC controllers.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:997548
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 conditionsOpen access
Terms of useLicence Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) icon
Created on2022-09-27 11:35:55