Sinteza regulacijskih algoritama za vođenje okretnog granika

Blažičević, Nenad (1998) Sinteza regulacijskih algoritama za vođenje okretnog granika. = Scientific master's thesis , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Novaković, Branko.

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Abstract (Croatian)

U ovom radu razmatra se problem automatskog vođenja okretnog granika. Riješen je direktni i inverzni dinamički problem za konkretnu konstrukcijsku izvedbu okretnog granika. Učinjena je sinteza nominalnog upravljanja uz kombinirani profil brzina. Predložena su četiri koncepta sinteze regulacije od čega dva pripadaju klasičnoj teoriji regulacije, a dva modernoj regulacijskoj teoriji uz primjenu neizrazite (fuzzy) logike. Izvršena je sinteza linearnog optimalnog regulatora korištenjem metode prostora stanja. U to svrhu nelinearan dinamički model okretnog granika lineariziran je u okolini završne točke gibanja. Također je prikazan postupak sinteze regulacijskog algoritma za nelinearno vođenje na principima eksterne linearizacije. Od modernih koncepata regulacije obuhvaćeni su postupci sinteze neizraito¬logičkih (fuzzy) regulatora. Uz uobičajeni neizrazito-logički regulator koji koristi bazu pravila ponašanja obrađen je i posve nov pristup sintezi: neizrazito-logički regulator bez baze pravila ponašanja. Rad svakog od navedenih regulatora simuliran je na računalu, a rezultati su analizirani, uspoređeni i ocjenjeni. Kao što se i očekivalo, klasičnim regulacijskim algoritmima postignute su manje greške vođenja po poziciji i brzini, ali uz prethodno poznavanje dinamičkog modela okretnog granika i njegovo korištenje pri sintezi regulatora. Algoritmi bazirani na neizrazitoj logici daju nešto slabije, premda zadovoljavajuće, rezultate s tim da za njihovu sintezu nije potrebno poznavati dinamici model objekta regulacije

Abstract

This M. S. report considers the problem of control of a rotary crane. The direct and inverse dynamic problem for the particular structure of a rotary crane has been solved. The synthesis of nominal control by combined profile of speeds has been made. Four concepts of the synthesis of control have been proposed of which two belong to the classic control theory while the other two represent the modern theory using fuzzy logic. The synthesis of optimal linear controller has been performed using state space method. For this purpose, the nonlinear dynamic model of a rotary crane has been linearized around the final point of motion. Further, the process of the synthesis of nonlinear control algorithm based on the external linearization principle has been presented. Of those belonging to the modern concepts of control, the procedures of fuzzy logic controller synthesis have been included. Along with the fuzzy logic controller that uses rule base, a completely new approach has been elaborated — a fuzzy logic controller without rule base. The behavior of all the mentioned controllers has been simulated by computer and the obtained results were analyzed, compared and evaluated. Using classical controllers, smaller tracking errors have been achieved. This includes the previous knowledge of a dynamic model of a rotary crane and it's implementation in the control algorithm. Fuzzy logic controllers provide not so good but still satisfying results without having to know the dynamic model of the rotary crane.

Item Type: Thesis (Scientific master's thesis)
Uncontrolled Keywords: otretni granik; dinamički model; prostor stanja; sinteza regulacijskog kruga; neizrazito-logički regulator
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 22 Sep 2014 18:00
Last Modified: 16 Oct 2015 13:20
URI: http://repozitorij.fsb.hr/id/eprint/73

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