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master's thesis
Razvoj upravljivog mobilnog mehatroničkog sustava
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:455420
Korotaj, Blaž
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Korotaj, B. (2020). Razvoj upravljivog mobilnog mehatroničkog sustava (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:455420

Korotaj, Blaž. "Razvoj upravljivog mobilnog mehatroničkog sustava." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:455420

Korotaj, Blaž. "Razvoj upravljivog mobilnog mehatroničkog sustava." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:455420

Korotaj, B. (2020). 'Razvoj upravljivog mobilnog mehatroničkog sustava', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:455420

Korotaj B. Razvoj upravljivog mobilnog mehatroničkog sustava [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:455420

B. Korotaj, "Razvoj upravljivog mobilnog mehatroničkog sustava", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:455420

Metadata
TitleRazvoj upravljivog mobilnog mehatroničkog sustava
Title (english)Development of a controllable mobile mehatronic system
AuthorBlaž Korotaj
MentorMato Baotić (mentor)
Committee memberMato Baotić (predsjednik povjerenstva)
Committee memberVinko Lešić (član povjerenstva)
Committee memberBranimir Novoselnik (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Kao prvi korak u razvoju mobilnog mehatroničkog sustava napravljeno je projektiranje same platforme pomoću CAD alata SolidWorks. Projektiranje je provedeno uz pretpostavku poznatih/fiksiranih dimenzija dijelova sustava i svih komponenata. Nadalje, opisan je kinematički model platforme te kinematika svesmjernih kotača. Dodatno je opisano načelo rada pojedinih senzora kako bi se mogla implementirati fuzija senzora diskretnim Kalmanovim filtrom (DKF). Izvedeni su izrazi za realizaciju diskretnog linearnog Kalmanovog filtra te diskretnog proširenog Kalmanovog filtra (D-EKF) zbog potrebe fuzije magnetometra i žiroskopa, a kasnije I za samu estimaciju položaja i orijentacije mobilnog mehatroničkog sustava. Pored mjerenja kuta dobivenog fuzijom magnetometra i žiroskopa, kao dodatni ulaz u D-EKF koriste se i mjerenja dobivena akcelerometrom. Zbog toga je sustav potrebno proširiti s još četiri stanja kako bi se mogla izraziti jednadžba mjerenja, odnosno izlazna jednadžba. Simulacija estimacije stanja provedena je u programskom okruženju MATLAB/Simulink. Dobiveni odzivi estimacije položaja i orijentacije prikazuju veliku točnost te dobru implementaciju D-EKF-a.
Abstract (english)
As the first step in the development of a mobile mechatronic system, the design of the platform itself was made using the CAD tool SolidWorks. The design was performed under the assumption of known/fixed dimensions of system parts and all components. Furthermore, the kinematic model of the platform and the kinematics of the omnidirectional wheel drive are described. The principle of operation of individual sensors is additionally described in order to implement sensor fusion with a discrete Kalman filter (DKF). Expressions for the realization of a discrete linear Kalman filter and a discrete extended Kalman filter (D-EKF) are derived due to the need for fusion of a magnetometer and gyroscope, and later for the estimation of the position and orientation of a mobile mechatronic system. As an additional input besides measuring the angle obtained by fusing a magnetometer and gyroscope in D-EKF, an accelerometer measurements are also used. Therefore, the system needs to be expanded with four more conditions in order to be able to express the measurement equation, relatively the output equation. The state estimation simulation was performed in the MATLAB/ Simulink programming environment. The obtained position estimation and orientation responses show high accuracy and good implementation of D-EKF.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:455420
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-15 10:32:56