Upravljanje prijenosom tereta primjenom autonomnih letjelica

Ivanković, Margita (2019) Upravljanje prijenosom tereta primjenom autonomnih letjelica. = Control of load transportation by using unmanned 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 razmatran je problem prijenosa tereta primjenom autonomnih letjelica. Prvo je razmatran slučaj jedne autonomne letjelice s pasivno ovješenim teretom, a zatim slučaj prijenosa tereta primjenom dviju autonomnih letjelica u vertikalnoj ravnini. Dinamički modeli letjelica s teretom izvedeni su primjenom Euler-Lagrangeovih jednadžbi. Provedena je linearizacija oba nelinearna sustava, kako bi se dobio pojednostavljeni model, a samim time i jednostavniji upravljački zakoni. Upravljanje autonomnom letjelicom s pasivno ovješenim teretom realizirano je primjenom linearnog kvadratičnog regulatora, te metodom eksterne linearizacije. Upravljanje sustavom s dvije autonomne letjelice realizirano je primjenom linearnog kvadratičnog regulatora. Upravljački zahtjevi prilikom sinteze regulacijskog sustava jedne letjelice s pasivno ovješenim teretom bili su slijeđenje vremenski promjenjive trajektorije uz minimizaciju njihanja tereta. Upravljački zahtjevi u slučaju prijenosa tereta pomoću dvije letjelice bili su stabilizacija tereta u željenoj poziciji uz održavanje zadanog kuta između tereta i obje letjelice. Simulacijskim rezultatima demonstrirane su dobre performanse navedenih regulacijskih sustava.

Abstract

This thesis discusses a load transportation problem using unmanned aerial vehicles (UAVs). Firstly discussed is the case of single UAV with suspended load and then the case of load transportation using two UAVs in the vertical plane. Dynamic models for UAVs with the load are derived by using Euler-Lagrange equations. Both nonlinear systems are linearized, in order to achieve a simplified models and simpler control laws with it. Single UAV control with suspended load is achieved by using linear quadratic regulator and feedback linearization. System control of two UAVs is achieved by using linear quadratic regulator. Controllers for the single UAV with suspended load had to be designed for tracking desired trajectory while minimizing swinging of the load. In the case of the load transportation with two UAVs, controller had to be designed to stabilize the load in desired position while keeping desired angle between the load and both UAVs. Simulation results demonstrate a good performance of mentioned regulated systems.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: Autonomne letjelice; Prijenos tereta; Nelinearni mehanički sustavi; Metoda eksterne linearizacije; Linearni kvadratični regulator
Keywords (Croatian): Unmanned Aerial Vehicles; Load transportation; Nonlinear mechanical systems; Feedback linearization; Linear quadratic regulator
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 09 May 2019 09:36
Last Modified: 29 Oct 2019 12:44
URI: http://repozitorij.fsb.hr/id/eprint/9298

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