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undergraduate thesis
ROS aplikacija za podešavanje regulatora
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. urn:nbn:hr:168:798588
Lončar, Ivan
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Lončar, I. (2014). ROS aplikacija za podešavanje regulatora (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:798588

Lončar, Ivan. "ROS aplikacija za podešavanje regulatora." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:798588

Lončar, Ivan. "ROS aplikacija za podešavanje regulatora." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:798588

Lončar, I. (2014). 'ROS aplikacija za podešavanje regulatora', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 30 June 2024, https://urn.nsk.hr/urn:nbn:hr:168:798588

Lončar I. ROS aplikacija za podešavanje regulatora [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2014 [cited 2024 June 30] Available at: https://urn.nsk.hr/urn:nbn:hr:168:798588

I. Lončar, "ROS aplikacija za podešavanje regulatora", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2014. Available at: https://urn.nsk.hr/urn:nbn:hr:168:798588

Metadata
TitleROS aplikacija za podešavanje regulatora
Title (english)ROS application for controller tuning
AuthorIvan Lončar
MentorNikola Mišković (mentor)
Committee memberNikola Mišković (predsjednik povjerenstva)
Committee memberZoran Vukić (član povjerenstva)
Committee memberĐula Nađ (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2014-07-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Sigurnost čovjeka je najvažniji čimbenik u bilo kakvom poslu. Kod ronjenja tu sigurnost ugrožavaju nepredvidivost mora i morskog svijeta, nepoznavanje terena i druga morska plovila koja nisu u mogućnosti vidjeti ronioca ispod površine. Kako bi se roniocu olakšao rad pod vodom, omogućila komunikacija sa vanjskim svijetom i povećala sigurnost, upotrijebljena je platforma PlaDyPos, autonomna platforma za dinamičko pozicioniranje. Upravljanje tog sustava je velik izazov i zahtjeva dobro parametrirane regulatore. Da bi proces parametriranja bio brži i kako ne bi došlo do havarije prilikom testiranja, upotrijebljen je matematički model platforme u ROS-u. ROS nam omogućava da testiranja provedemo u sigurnom okruženju sa ubrzanim simuliranim vremenom i snimimo odzive za brzinu zaošijanja naše platforme. Nad snimljenim odzivima provedena su ispitivanja kvalitete odziva pomoću integralnog kriterija apsolutne vrijednosti regulacijskog odstupanja, potrošnje energije i vremena ustaljivanja procesa. Ti pokazatelji su nam omogućili lakše odabiranje frekvencije zatvorene petlje.
Abstract (english)
Human safety is the most important factor in every activity. During a dive, diver safety is jeopardized by unpredictable underwater circumstances and surface vessels, which cannot see him. In order to ease his work underwater, we used PlaDyPos platform. PlaDyPos platform is an autonomous dynamic positioning platform, which enables him communication with the outer world and therefore increasing his safety. Controlling that system is a great challenge which demands well tuned controllers. To achieve quicker tuning and to avoid unwanted system behavior, we have used mathematical model in ROS. ROS enables us to do the testing in secure environment with faster simulated time and to record yaw rate response of our platform. That response is then analyzed by integral of absolute error criterion and energy consumption was calculated. Those indicators enable us to easily choose closed loop frequency.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:798588
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2018-02-05 17:40:54