prikaz prve stranice dokumenta Optimalna i fleksibilna alokacija propulzije za holonomsku površinsku platformu
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master's thesis
Optimalna i fleksibilna alokacija propulzije za holonomsku površinsku platformu
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. urn:nbn:hr:168:542935
Vončina, Fran
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Vončina, F. (2015). Optimalna i fleksibilna alokacija propulzije za holonomsku površinsku platformu (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:542935

Vončina, Fran. "Optimalna i fleksibilna alokacija propulzije za holonomsku površinsku platformu." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:542935

Vončina, Fran. "Optimalna i fleksibilna alokacija propulzije za holonomsku površinsku platformu." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:542935

Vončina, F. (2015). 'Optimalna i fleksibilna alokacija propulzije za holonomsku površinsku platformu', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 18 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:542935

Vončina F. Optimalna i fleksibilna alokacija propulzije za holonomsku površinsku platformu [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2015 [cited 2024 December 18] Available at: https://urn.nsk.hr/urn:nbn:hr:168:542935

F. Vončina, "Optimalna i fleksibilna alokacija propulzije za holonomsku površinsku platformu", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2015. Available at: https://urn.nsk.hr/urn:nbn:hr:168:542935

Metadata
TitleOptimalna i fleksibilna alokacija propulzije za holonomsku površinsku platformu
Title (english)Optimal and flexible thrust allocation for a holonomic surface vehicle
AuthorFran Vončina
MentorNikola Mišković (mentor)
Committee memberNikola Mišković (predsjednik povjerenstva)
Committee memberZoran Vukić (član povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2015-07-17, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Rad je koncipiran na slijedeći način: sadržaj je podijeljen na tri glavna dijela, odnosno matematički model i izračuni, analiza problematike upravljanja uz kvar, te simulacije. U uvodu su obrađena temeljna razmatranja. Izračun te matematički model platforme obuhvaćaju analizu strukture upravljanja, s naglaskom na alokacijski aspekt. Analizirani su i diskutirani problemi optimalne i fleksibilne alokacije, te utjecaj ograničenja propulzija na ostvarivi vektor gibanja. Temeljni problem je očuvanje smjera gibanja bez obzira na ograničenja. Dodatno ograničenje predstavljat će zahtjev na mogućnost regulacije zaošijanja, odnosno rotacije plovila. Upravljanje uz kvar razmatra situacije u kojoj se dogodio jedan kvar tako da je svim stupnjevima slobode gibanja ipak moguće izravno upravljati, te uključuje digresiju vezanu uz slučaj višestrukog kvara. Simulacije su, primjera i ilustracija radi odrađene u Matlabu, a u ROS-u je izrađena simulacija koju je moguće testirati na stvarnom plovilu. U dodatku su priloženi korišteni kodovi. Simulacije pokazuju djelotvornost algoritama obrađenih u radu.
Abstract (english)
The paper is conceived the following way: the content is divided into three main parts, notably mathematical model and calculations, analysis of fault-tolerant control problem and the simulation. Basic considerations are included in the introduction. The calculations and the mathematical model of the platform contain the analysis of the control structure, with stress on the aspects of allocation. Problems of optimal and flexible allocation, as well as the influence of the limits to the achievable movement vector field are hereby analysed and discussed. The basic problem is keeping the movement direction (course) regardless of the limits. An additional limit will be caused by the need to enable yaw regulation. Fault-tolerant control comprehends the situations in which one thruster went faulty, so all degrees of freedom are still controllable, and includes also the case with two faulty thrusters. The simulations are for the sake of example and illustration made in Matlab, and the simulation in ROS is testable on real vehicle. The commented code of the algorithm is attached to this paper (see Appendix). The simulation results show the effectiveness of the algorithms made throughout the paper.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:542935
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 on2018-02-06 14:23:00