Modeliranje i regulacija pneumatskog sustava za ispitivanje čvrstoće materijala

master's thesis

• Title (english): Modeling and control of pneumatic system for material strength testing
• Author: Marko Miroslav Bača
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-07-18, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu prikazan je izvod matematičkog modela, simulacija i eksperimentalna validacija rezultata dinamičkog ispitnog sustava umaralice. Ključni parametri modela sustava određeni su eksperimentalno, uvedena su i neka pojednostavljenja modela radi lakše izvedbe simulacije sustava. Ispitni sustav je reguliran s osnovnim regulatorima iz klasične teorije upravljanja, te njihove modificirane strukture. Pri tome su vidljive razlike u brzini odziva i stacionarnoj točnosti različitih struktura regulatora. Većina predloženih regulatora ostvaruje dobre rezultate prilikom zadavanja statičkih referenci. Zbog spore dinamike upravljačkih uređaja prilikom slijeđenja dinamičkih referenci poput sinusne funkcije dolazi do značajnih odstupanja od zadane reference. Kao rješenje tog problema izveden je upravljački algoritam korištenjem pulsno širinske modulacije male sklopne frekvencije. Simulacijski modeli sustava provjereni su eksperimentalno, na izrađenom ispitnom sustavu umaralice.

Abstract (english)

In this paper, the mathematical model, simulation and experimental validation of the results of the dynamic strength tester are presented. The key parameters of the system model were determined experimentally, and some simplifications of the model were introduced for easier performance of the system simulation. The test system is regulated by basic regulators from classical control theory and their modified structure. Differences in response speed and stationary accuracy of different regulator structures are visible. Most of the proposed controllers achieve good results when specifying static references. Due to the slow dynamics of control devices, significant deviations from the given reference to occur when following dynamic references such as a sinusoidal function. As a solution to this problem, a control algorithm using pulse width modulation with a low switching frequency was implemented. The simulation models of the system were checked experimentally, on the made test system of the dynamic strength tester.

• Keywords: umaralica; ispitni uređaj; pneumatika; regulacija; PID; regulator s kliznim stanjima; pulsno-širinska modulacija
• Keywords (english): dynamic strength tester; test device; pneumatics; regulation; PID; sliding mode controller; pulse-width modulation
• Language: croatian
• URN:NBN: urn:nbn:hr:235:218530
• Study programme: Title: Mechanical Engineering; specializations in: Design, Process and Energy Engineering, Production Engineering, Engineering Modelling and Computer Simulation, Marine Engineering, Industrial Engineering and Management, Materials Engineering, Mechatronics and Robotics, Autonomous Systems; Course: Mechatronics and Robotics; 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: 2022-07-13 04:57:23