Algebarski pristup identifikaciji parametara autonomnih letjelica u realnom vremenu

master's thesis

• Title (english): Algebraic approach for real-time parameter identification of unmaned aerial vehicles
• Author: Marko Barišić
• Mentor: Josip Kasać (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2018-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu razmatrana je algebarska metoda identifikacije parametara u realnom vremenu. Algebarska metoda omogu´cuje skoro trenutnu estimaciju realnih parametara sustava te je stoga primijenjena na problem identifikacije parametara autonomne letjelice u realnom vremenu. U prvom dijelu rada na modelu mehaničkog oscilatora implementirane su asimptotske metode algebarske identifikacije te zatim ne asimptotska konvencionalna metoda identifikacije parametara zasnovana na algebarskim derivacijama. Implementirana je takoder ne asimptotska metoda algebarske identifikacije parametara koja se zasniva na metodi frekvencijskog pomaka. Spomenute metode korištene su za estimaciju konstante opruge. Provedena je komparativna analiza stabilnosti i robusnosti na šum mjerenja spomenutih metoda. U drugom dijelu rada dani su osnovni koncepti rada kvadkoptera te je izvedena njegova kinematika i dinamika. Metoda frekvencijskog pomaka iskorištena je za identifikaciju parametara mase i momenata tromosti kvadrotora te su identificirani parametri korišteni za sintezu adaptivnog regulatora na više modela kvadrotora uz dodan šum mjerenja.

Abstract (english)

In this thesis algebraic method for real time parameter identification was considered. Algebraic method enables almost instantaneous estimation of real system parameters and therefore it was applied to the problem of parameter identification of autonomous aircraft in real time. In the first part of thesis asymptotic methods of algebraic identification were implemented, then came conventional non-asymptotic method based on algebraic derivations and non-asymptotic, frequency-shift based method of algebraic parameter identification. Mentioned methods were used to estimate the constant of the spring. Comparative analysis was conducted to determine the stability and robustness to measuring noise of aforementioned methods. In the second part of thesis basic concepts of quadcopter were given and kinematics and dynamics were derived. Frequency-shift based method was used to identify mass and inertia moments of quadcopter and these identified parameters were used to construct adaptive controller on multiple quadcopter models with added measurement noise.

• Keywords: Identifikacija parametara; Linearni dinamički sustavi; Autonomne letjelice; Adaptivno upravljanje
• Keywords (english): Parameter identification; Linear dynamical systems; Autonomous aircrafts; Adaptive control
• Language: croatian
• URN:NBN: urn:nbn:hr:235:519292
• 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: 2019-05-22 22:28:31