Modeliranje i regulacija sustava kuglice na ploči pokretanog pneumatskim mišićima

Miletić, Marin (2017) Modeliranje i regulacija sustava kuglice na ploči pokretanog pneumatskim mišićima. = Modeling and control of a Ball-on-plate system powered by pneumatic muscles. Undergraduate thesis , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Šitum, Željko.

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Abstract (Croatian)

Kroz ovaj rad bit će predstavljena metoda matematičkog modeliranja dinamičkih sustava. Nakon toga slijedi izvod matematičkog modela kuglice na ploči i simulacija dobivenog matematičkog modela odnosno odziv sustava u otvorenom krugu. Zatim slijedi linearizacija dobivenog nelinearnog matematičkog modela prema određenim pretpostavkama te projektiranje regulatora za zadani sustav i simulacija odziva lineariziranog modela u zatvorenom regulacijskom krugu. Nakon provedene simulacije slijedi opis ugrađenih mjernih i upravljačkih komponenti na stvarnom fizičkom sustavu kuglice na ploči. Provedenom ugradnjom komponenti bit će izvršena implementacija razvijenih algoritama i eksperimentalno testiranje istih.

Abstract

In this thesis a method for mathematical modeling of dynamic systems and the implementation of that method on the ‘Ball and plate’ system will be showed. After the mathematical modeling the open-loop response of the model will be showed. Next the obtained non-linear mathematical model will be linearised by certain assumptions. For the linearisied mathematical model, a controller will be designed and the closed-loop response will be showed. A description of used control and measuring equipment and components of the real physical system will be shown and instaled after the system response simulation. Programing will be executed and the experimental results will be shown by conducted instalation of control and measuring components.

Item Type: Thesis (Undergraduate thesis)
Uncontrolled Keywords: mehatronika; automatska regulacija; dinamički sustavi; podupravljivost; nelinearnost; linearizacija; regulator po varijablama stanja
Keywords (Croatian): mechatronics; automatic control; dynamic systems; underactuation; nonlinearity; linearization; steady-state regulator
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 23 Feb 2017 12:07
Last Modified: 13 Mar 2017 14:17
URI: http://repozitorij.fsb.hr/id/eprint/7342

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