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master's thesis
Automatsko kormilarenje brodom po zadanoj trajektoriji
2022. urn:nbn:hr:179:504635
Perković, Darijo
University of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
Department of Electronics and Computing

Cite this document

Perković, D. (2022). Automatsko kormilarenje brodom po zadanoj trajektoriji (Master's thesis). Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:179:504635

Perković, Darijo. "Automatsko kormilarenje brodom po zadanoj trajektoriji." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:179:504635

Perković, Darijo. "Automatsko kormilarenje brodom po zadanoj trajektoriji." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:179:504635

Perković, D. (2022). 'Automatsko kormilarenje brodom po zadanoj trajektoriji', Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, accessed 23 March 2025, https://urn.nsk.hr/urn:nbn:hr:179:504635

Perković D. Automatsko kormilarenje brodom po zadanoj trajektoriji [Master's thesis]. Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture; 2022 [cited 2025 March 23] Available at: https://urn.nsk.hr/urn:nbn:hr:179:504635

D. Perković, "Automatsko kormilarenje brodom po zadanoj trajektoriji", 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:179:504635

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Metadata
TitleAutomatsko kormilarenje brodom po zadanoj trajektoriji
Title (english)Automatic ship steering along a given trajectory
AuthorDarijo Perković
MentorDarko Stipaničev (mentor)
GranterUniversity of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
(Department of Electronics and Computing)
Split
Defense date and country2022-09-19, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Basic Technical Sciences
Automatics
Abstract
U ovom diplomskom radu opisano je matematičko modeliranje broda u tri stupnja slobode. Realizirana su dva regulatora za automatsko kormilarenje brodom: nelinearni regulator i fuzzy regulator. Regulatori su projektirani prema Norrbinovom nelinearnom modelu broda uz dodane pojednostavljene poremećaje. Simulator je napravljen u programskom alatu Simulink uz mogućnost dinamičkog mijenjanja brzine broda. Bolje rezultate dao je nelinearni regulator. Dobiveni rezultati simulacija ne uzimaju u obzir mogućnost devijacija ulaza regulatora. Radi jednostavnosti smetnje su pojednostavljenje, zanošenje broda je zanemareno kao i utjecaj ljuljanja broda, sve to treba uzeti u obzir prije realizacije na stvarnom brodu.
Abstract (english)
This master thesis describes the mathematical modeling of a ship in three degrees of freedom. Two controllers for automatic ship steering were implemented: a nonlinear controller and a fuzzy controller. The controllers are designed according to Norrbin's nonlinear ship model with added disturbances. The simulator was created in the Simulink software tool with the possibility of dynamically changing the speed of the ship. The non-linear controller gave better results. The obtained simulation results do not take into account the possibility of deviations of the controller input. For the sake of simplicity, the disturbances are simplified, the drift of the ship is neglected as well as the influence of the rolling of the ship, all this should be taken into account before the realization on a real ship.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:179:504635
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 on2023-06-14 08:53:23