Regulacija sustava kuglice na ploči

undergraduate thesis

• Title (english): Control of a ball-on-plate system
• Author: Andreas Šantek
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2019-09-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Cilj ovog rada je izrada i regulacija sustava kuglice na ploči. Realizirani sustav sastoji se od konstrukcijskih elemenata, upravljačkih komponenti, mjernih komponenti i programske podrške (Matlab Simulink).
U navedenom zadatku bilo je potrebno izvesti nelinearni i linearizirani matematički model te ugraditi komponente mjernog i upravljačkog dijela sustava na maketu. Zatim razmotriti moguće načine regulacije sustava, odabrati regulator i izvršiti simulaciju sustava. Naposljetku bilo je potrebno provjeriti odabrani regulator eksperimentalno na nastavnoj maketi.
Sustav je realiziran s LQR regulatorom. Rezultati raznih eksperimenata dokazuju primjenjivost odabranog regulatora na sustavu kuglice na ploči upravljanog pomoću stlačenog zraka.

Abstract (english)

The goal of this paper is construction and control of ball on plate system. Realized system consists of construction elements, control components, measuring components and programming support (Matlab Simulink)
The goal of this work was to carry out both nonlinear and linear mathematical model and to implement measurement and control system components on model, which was proceeded by choosing way of system control, regulator design and executing system simulation. The chosen regulator was experimentally tested on real system.
The control system was realized with LQR regulator. The results of various experiments prove applicability of chosen regulator on the ball on plate system actuated by compressed air.

• Keywords: kuglica na ploči; pneumatski mišići; zaslon osjetljiv na dodir; žiroskop; simulacija; LQR regulator; nelinearni sustav
• Keywords (english): ball on plate; pneumatic muscle; touchscreen; gyroscope; simulation; LQR regulator; nonlinear system
• Language: croatian
• URN:NBN: urn:nbn:hr:235:771880
• 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: 2019-09-22 15:34:24