Algebarski pristup identifikaciji parametara autonomnih letjelica u realnom vremenu

Barišić, Marko (2018) Algebarski pristup identifikaciji parametara autonomnih letjelica u realnom vremenu. = Algebraic approach for real-time parameter identification of unmaned aerial vehicles. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Kasać, Josip.

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Abstract (Croatian)

U ovom radu razmatrana je algebarska metoda identifikacije parametara u realnom vremenu. Algebarska metoda omogu´cuje skoro trenutnu estimaciju realnih parametara sustava te je stoga primijenjena na problem identifikacije parametara autonomne letjelice u realnom vremenu. U prvom dijelu rada na modelu mehaničkog oscilatora implementirane su asimptotske metode algebarske identifikacije te zatim ne asimptotska konvencionalna metoda identifikacije parametara zasnovana na algebarskim derivacijama. Implementirana je takoder ne asimptotska metoda algebarske identifikacije parametara koja se zasniva na metodi frekvencijskog pomaka. Spomenute metode korištene su za estimaciju konstante opruge. Provedena je komparativna analiza stabilnosti i robusnosti na šum mjerenja spomenutih metoda. U drugom dijelu rada dani su osnovni koncepti rada kvadkoptera te je izvedena njegova kinematika i dinamika. Metoda frekvencijskog pomaka iskorištena je za identifikaciju parametara mase i momenata tromosti kvadrotora te su identificirani parametri korišteni za sintezu adaptivnog regulatora na više modela kvadrotora uz dodan šum mjerenja.

Abstract

In this thesis algebraic method for real time parameter identification was considered. Algebraic method enables almost instantaneous estimation of real system parameters and therefore it was applied to the problem of parameter identification of autonomous aircraft in real time. In the first part of thesis asymptotic methods of algebraic identification were implemented, then came conventional non-asymptotic method based on algebraic derivations and non-asymptotic, frequency-shift based method of algebraic parameter identification. Mentioned methods were used to estimate the constant of the spring. Comparative analysis was conducted to determine the stability and robustness to measuring noise of aforementioned methods. In the second part of thesis basic concepts of quadcopter were given and kinematics and dynamics were derived. Frequency-shift based method was used to identify mass and inertia moments of quadcopter and these identified parameters were used to construct adaptive controller on multiple quadcopter models with added measurement noise.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: Identifikacija parametara; Linearni dinamički sustavi; Autonomne letjelice; Adaptivno upravljanje
Keywords (Croatian): Parameter identification; Linear dynamical systems; Autonomous aircrafts; Adaptive control
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 23 Jul 2018 08:32
Last Modified: 23 Jul 2018 08:32
URI: http://repozitorij.fsb.hr/id/eprint/8611

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