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master's thesis
Projektiranje sustava upravljanja samostabilizajućim urbanim vozilom na dva kotača
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:514631
Gulin, Ivan
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Gulin, I. (2017). Projektiranje sustava upravljanja samostabilizajućim urbanim vozilom na dva kotača (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:514631

Gulin, Ivan. "Projektiranje sustava upravljanja samostabilizajućim urbanim vozilom na dva kotača." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:514631

Gulin, Ivan. "Projektiranje sustava upravljanja samostabilizajućim urbanim vozilom na dva kotača." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:514631

Gulin, I. (2017). 'Projektiranje sustava upravljanja samostabilizajućim urbanim vozilom na dva kotača', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 12 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:514631

Gulin I. Projektiranje sustava upravljanja samostabilizajućim urbanim vozilom na dva kotača [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2017 [cited 2024 July 12] Available at: https://urn.nsk.hr/urn:nbn:hr:168:514631

I. Gulin, "Projektiranje sustava upravljanja samostabilizajućim urbanim vozilom na dva kotača", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:514631

Metadata
TitleProjektiranje sustava upravljanja samostabilizajućim urbanim vozilom na dva kotača
Title (english)Design of Control System for Two-Wheel Selfstabilizing Urban Vehicle
AuthorIvan Gulin
MentorJadranko Matuško (mentor)
Committee memberJadranko Matuško (predsjednik povjerenstva)
Committee memberŽeljko Jakopović (član povjerenstva)
Committee memberŠandor Ileš (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2017-09-04, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom diplomskom radu pokušali smo projektirati sustav za urbano vozilo na dva kotača koja ima zahtjeve za samostabilizacijom. Ključna ideja je neutralizirati vanjske okretne momente koji se primjenjuju na vozilu pomoću dva žiroskopa koja proizvode suprotni okretni moment. U ovom radu žiroskopi predstavljamo kao aktuatore a ne kao senzore. Prilikom primjene momenta radi rotacije žiroskopa čiji se disk vrti, tada žiroskop stvara precesiju te na taj način stvara moment koji je ortogonalan i za okretni moment i za os okretanja. Ovaj fenomen je poznat je kao žiroskopska precesija. Ukoliko se vozilo ne nalazi u ravnotežnom položaju žiroskopi bi trebali stvoriti dovoljno momenta da vozilo vrate u ravnotežni položaj. Prvo izvodimo jednadžbe kretanja temeljene na Lagrangeovoj mehanici. Važno je spomenuti da uzmemo u obzir samo dinamiku kontrole statičkog vozila. Lineariziramo dinamiku sustava oko ravnoteže te proučavamo stabilnost sustava. Zatim projektiramo LQR regulator koji nam omogučava da sustav dovedemo u stabilno stanje. Provodimo simulacije gdje dolazimo do zaključka da iako je sustav na početku nestabilan pomoću regulatora uspjevamo zadovoljiti zahtjev stabilizacije.
Abstract (english)
In this master thesis, we tried to design a two-wheeled urban vehicle with self- stabilization requirements. The key idea is to neutralize the external torque applied to the vehicle by two gyroscopes that produce an counter torque. In this paper we present the gyroscopes actuators, not as sensors. When a torque is applied in order to rotate a gyroscope whose flywheel is spinning, then the gyroscope precesses and it generates a moment, orthogonal to both the torque and the spinning axis. This phenomenon is known as gyroscopic precession. If the vehicle is not in the equilibrium position, the gyroscopes should create enough moment to return the vehicle to its equilibrium position. First, we derive equations of motion based on Lagrangian mechanics. It is important to mention that we only consider the control dynamics of a static vehicle. We linearize the system dynamics around equilibrium and study the stability of the system. Then we design an LQR regulator that allows us to bring the system into a stable state. We conduct simulations where we come to the conclusion that although the system was initially unstable, we were able to meet the stabilization requirements with regulators.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:514631
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 on2019-03-13 20:43:54