Modeliranje i regulacija sustava kuglice na ploči pokretanog pneumatskim mišićima

undergraduate thesis

• Title (english): Modeling and control of a Ball-on-plate system powered by pneumatic muscles
• Author: Marin Miletić
• 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 ovaj rad bit će predstavljena metoda matematičkog modeliranja dinamičkih sustava. Nakon toga slijedi izvod matematičkog modela kuglice na ploči i simulacija dobivenog matematičkog modela odnosno odziv sustava u otvorenom krugu. Zatim slijedi linearizacija dobivenog nelinearnog matematičkog modela prema određenim pretpostavkama te projektiranje regulatora za zadani sustav i simulacija odziva lineariziranog modela u zatvorenom regulacijskom krugu. Nakon provedene simulacije slijedi opis ugrađenih mjernih i upravljačkih komponenti na stvarnom fizičkom sustavu kuglice na ploči. Provedenom ugradnjom komponenti bit će izvršena implementacija razvijenih algoritama i eksperimentalno testiranje istih.

Abstract (english)

In this thesis a method for mathematical modeling of dynamic systems and the implementation of that method on the ‘Ball and plate’ system will be showed. After the mathematical modeling the open-loop response of the model will be showed. Next the obtained non-linear mathematical model will be linearised by certain assumptions. For the linearisied mathematical model, a controller will be designed and the closed-loop response will be showed. A description of used control and measuring equipment and components of the real physical system will be shown and instaled after the system response simulation. Programing will be executed and the experimental results will be shown by conducted instalation of control and measuring components.

• Keywords: mehatronika; automatska regulacija; dinamički sustavi; podupravljivost; nelinearnost; linearizacija; regulator po varijablama stanja
• Keywords (english): mechatronics; automatic control; dynamic systems; underactuation; nonlinearity; linearization; steady-state regulator
• Language: croatian
• URN:NBN: urn:nbn:hr:235:212710
• 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 18:40:49