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master's thesis
Automatsko pozicioniranje plovila
2021. urn:nbn:hr:179:253283
Grgičević, Luka
University of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
Department of Electronics and Computing

Cite this document

Grgičević, L. (2021). Automatsko pozicioniranje plovila (Master's thesis). Retrieved from https://urn.nsk.hr/urn:nbn:hr:179:253283

Grgičević, Luka. "Automatsko pozicioniranje plovila." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:179:253283

Grgičević, Luka. "Automatsko pozicioniranje plovila." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:179:253283

Grgičević, L. (2021). 'Automatsko pozicioniranje plovila', Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, accessed 27 March 2023, https://urn.nsk.hr/urn:nbn:hr:179:253283

Grgičević L. Automatsko pozicioniranje plovila [Master's thesis]. Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture; 2021 [cited 2023 March 27] Available at: https://urn.nsk.hr/urn:nbn:hr:179:253283

L. Grgičević, "Automatsko pozicioniranje plovila", Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Split, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:179:253283

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Metadata
TitleAutomatsko pozicioniranje plovila
Title (english)Automatic Ship Positioning
AuthorLuka Grgičević
MentorDarko Stipaničev (mentor)
GranterUniversity of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
(Department of Electronics and Computing)
Split
Defense date and country2021-08-30, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Basic Technical Sciences
Automatics
Abstract
U ovom diplomskom radu prezentirano je modeliranje manjeg ribarskog broda u tri stupnja slobode, s krmenim motorom, uz ograničenja aktuatora. Utjecaj fluida na kruto tijelo aproksimirano je empirijskim formulama. Razvijen je PID algoritam i algoritam metode povratnog hoda, koji održavaju plovilo okrenuto ka centru kružnice s proizvoljnim koordinatama i na njenom obodu. Analogija dolazi od njihala u polju gravitacijske sile. Podaci iz okoline su kurs broda i GPS koordinate. Utjecaj valova i procjenitelj stanja nisu modelirani. Diferencijalne jednadžbe simulirane su u programu Simulink, a rezultati su vizualizirani u Matlabu. Usporedbom integrala apsolutne pogreške kursa, pokazana je prednost nelinearne kontrole, uz agresivnije upravljanje.
Abstract (english)
In this master thesis, modelling of a small fisherman’s ship, in three degrees of freedom, is presented. Stern propulsion, with limits on speed, angle and rate is used. Fluid influence on the ship is approximated by empirical formulas. PID and backstepping algorithms are developed to keep the ship on the perimeter of the circle and facing towards the centre, despite of weather influences and currents. Analogy could be drawn to a pendulum in a gravitational force field. Coordinates of the circle centre and radius are provisional. Algorithms obtain information only from the course of the ship and its GPS location. Wave induced forces and state observer are not modelled. Differential equations are modelled in Simulink and visualisation is done by importing simulation results in Matlab workspace. By comparing the integral of absolute error of the ship's course, nonlinear control has shown its merits, but with more agile actuation.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:179:253283
Study programmeTitle: Systems and Control
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka automatike i sustava (magistar/magistra inženjer/inženjerka automatike i sustava)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to authenticated users
Terms of useLicence In copyright icon
Created on2021-11-23 11:56:25