prikaz prve stranice dokumenta Modelsko prediktivno upravljanje multirotorskom letjelicom s pokretnim masama
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master's thesis
Modelsko prediktivno upravljanje multirotorskom letjelicom s pokretnim masama
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:148144
Pevec, Luka
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Pevec, L. (2017). Modelsko prediktivno upravljanje multirotorskom letjelicom s pokretnim masama (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:148144

Pevec, Luka. "Modelsko prediktivno upravljanje multirotorskom letjelicom s pokretnim masama." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:148144

Pevec, Luka. "Modelsko prediktivno upravljanje multirotorskom letjelicom s pokretnim masama." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:148144

Pevec, L. (2017). 'Modelsko prediktivno upravljanje multirotorskom letjelicom s pokretnim masama', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:148144

Pevec L. Modelsko prediktivno upravljanje multirotorskom letjelicom s pokretnim masama [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2017 [cited 2024 November 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:148144

L. Pevec, "Modelsko prediktivno upravljanje multirotorskom letjelicom s pokretnim masama", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:148144

Metadata
TitleModelsko prediktivno upravljanje multirotorskom letjelicom s pokretnim masama
Title (english)Model Predictive Control of Multirotor UAV Based on Moving Mass Concept
AuthorLuka Pevec
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2017-09-11, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Projektiran je modelski prediktivni regulator za multirotorsku letjelicu s pokretnim masama. Regulator je projektiran u programskom paketu Matlab koristeći funkciju quadprog(). Kasnija implementacija i testiranje uključuju simulator Gazebo i CVXGEN alat. Upravljanje je ostvareno pomacima pokretnih masa dok se u drugoj varijanti koristilo pomične mase u kombinaciji sa propulzorskim motorima. Prediktivno upravljanje je usporedivo sa PID upravljanjem uz bolju kompenzaciju poremećaja. Kvalitetnije upravljanje može se postići poznavanjem budućih referentnih kuteva. Upravljanje uz pomične mase i propulzorske motore je ostvareno, a dinamika odziva i aktuatora ovisi o težinskom koeficijentu postaljenom unutar regulatora.
Abstract (english)
Model predictive controller (MPC) for multirotor UAV based on moving mass concept is designed. The controller was designed in Matlab using a quadprog() function. Later implementation and testing include Gazebo simulator and CVXGEN tool. Control was firstly obtained with moving masses and afterward in cooperation with internal combustion engines. Using MPC for moving mass control realization proved valid and comparable to PID controller with better disturbance responses. Better performances can be obtained by providing future reference angles. As for the cooperation with engines, control can be achieved. Dynamics of the response and actuators highly depend on penalty coefficients set in the MPC.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:148144
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 23:57:40