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master's thesis
Upravljanje dinamičkim sustavima
2022. urn:nbn:hr:179:390871
Bošnjak, Andrea
University of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
Department of Mechanical Engineering and Naval Architecture

Cite this document

Bošnjak, A. (2022). Upravljanje dinamičkim sustavima (Master's thesis). Retrieved from https://urn.nsk.hr/urn:nbn:hr:179:390871

Bošnjak, Andrea. "Upravljanje dinamičkim sustavima." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:179:390871

Bošnjak, Andrea. "Upravljanje dinamičkim sustavima." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:179:390871

Bošnjak, A. (2022). 'Upravljanje dinamičkim sustavima', 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:179:390871

Bošnjak A. Upravljanje dinamičkim sustavima [Master's thesis]. Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture; 2022 [cited 2023 March 27] Available at: https://urn.nsk.hr/urn:nbn:hr:179:390871

A. Bošnjak, "Upravljanje dinamičkim sustavima", Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Split, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:179:390871

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Metadata
TitleUpravljanje dinamičkim sustavima
Title (english)Control of dynamic systems
AuthorAndrea Bošnjak
MentorDamir Sedlar (mentor)
GranterUniversity of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
(Department of Mechanical Engineering and Naval Architecture)
Split
Defense date and country2022-09-21, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U programskom paketu Matlab izvedena je simulacija za linearizirani dinamički sustav inverznog njihala pomoću povratne veze za stvaranje stabilnog sustava u zatvorenoj petlji. Korištenjem dvije metode, metoda postavljanja polova i LQR metoda, provjerene su kontrolabilnosti i dobivena rješenja, od kojih LQR metoda daje optimalno rješenje uz smanjenje funkcije troškova. Fizički je izveden uređaj koji simulira gibanje sustava. Simulacija je izvedena pomoću Arduino platforme i potrebnih komponenti. Glavni dijelovi su mikroprocesor, žiroskopski senzor za mjerenje promjene kuta i H bridge koji služi za upravljanje elektromotorima koji se nalaze na kotačima. Uspostavljanje ravnoteže sustava omogućuje PID regulator nastojeći ukloniti grešku između zadanog i stvarnog položaja uz podešavanje svoje integracijske, derivabilne i proporcionalne konstante.
Abstract (english)
A simulation for a linearized dynamic system of an inverse pendulum using feedback to create a stable closed-loop system was performed in the Matlab software package. By using two methods, the pole placement method and the LQR method, controllability was checked and solutions were obtained, of which the LQR method provides the optimal solution while reducing the cost function. A device that simulates the motion of the system has been physically implemented. The simulation was performed using the Arduino platform and the necessary components. The main parts are a microprocessor, a gyroscopic sensor for measuring the angle change and the H bridge, which is used to control the electric motors located on the wheels. Establishing the balance of the system allows the PID controller to try to remove the error between the set point and the actual position while adjusting its integration, derivative and proportional constant.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:179:390871
Study programmeTitle: Mechanical Engineering; specializations in: Structures and Energy Technology, Computer Aided Design and Engineering, Production Mechanical Engineering
Course: Computer Aided Design and Engineering
Study programme type: university
Study level: graduate
Academic / professional title: Magistar/magistra inženjer/inženjerka strojarstva (Magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to authenticated users
Terms of useLicence In copyright icon
Created on2023-03-08 10:45:27