prikaz prve stranice dokumenta Projektiranje sustava upravljanja laboratorijskom maketom helikoptera s dva stupnja slobode
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master's thesis
Projektiranje sustava upravljanja laboratorijskom maketom helikoptera s dva stupnja slobode
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:986344
Vukašin, Damjan
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Vukašin, D. (2018). Projektiranje sustava upravljanja laboratorijskom maketom helikoptera s dva stupnja slobode (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:986344

Vukašin, Damjan. "Projektiranje sustava upravljanja laboratorijskom maketom helikoptera s dva stupnja slobode." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:986344

Vukašin, Damjan. "Projektiranje sustava upravljanja laboratorijskom maketom helikoptera s dva stupnja slobode." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:986344

Vukašin, D. (2018). 'Projektiranje sustava upravljanja laboratorijskom maketom helikoptera s dva stupnja slobode', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 29 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:986344

Vukašin D. Projektiranje sustava upravljanja laboratorijskom maketom helikoptera s dva stupnja slobode [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 November 29] Available at: https://urn.nsk.hr/urn:nbn:hr:168:986344

D. Vukašin, "Projektiranje sustava upravljanja laboratorijskom maketom helikoptera s dva stupnja slobode", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:986344

Metadata
TitleProjektiranje sustava upravljanja laboratorijskom maketom helikoptera s dva stupnja slobode
Title (english)Design of Control System for Laboratory Model of 2 DoF Helicopter
AuthorDamjan Vukašin
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 country2018-09-24, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U radu se bavilo projektiranjem, upravljanjem i analiziranjem ponašanja helikoptera s dva stupnja slobode. Preko fizikalne slike helikoptera dolazi se do njegovoga matematičkoga opisa. Zbog nelinearnosti matematičkoga sustava helikoptera, provodi se linearizacija sustava uz pomoć Eulerove jednadžbe. Sustav je opisan u prostoru stanja s prostornim matricama A, B, C i D. Za upravljanje sustava odabire se linearno kvadratični regulator i logika njegovoga rada opisana je. Projektiranje regulatora za sustav napravljen je na dva načina. Jedan je s integralnim djelovanjem, drugi bez integralnog djelovanja. Za svaki način, s obzirom na dobivene parametre, izračunate su kontrolne matrice sustava. Simulacije su napravljene na realnome i simulacijskom modelu te je ponašanje i uspješnost projektiranja opisana i analizirana.
Abstract (english)
The paper deals with designing, controlling and analyzing the behavior of helicopters with two degrees of freedom. Through the physical image of the helicopter, a mathematical description is made. The linearization of the system using the Euler equation is performed for the nonlinearity of the helicopter mathematical system. The system is described in state space with space matrices A, B, C and D. The linear quadratic regulator is selected for the system control and the logic of its operation is described. The design of the controller for the system is made in two ways. One is with integral action, the other without integral action. In either way, the control matrices of the system are calculated based on the obtained parameters. The simulations were made on a realistic and a simulation model. The behavior and design success were described and analyzed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:986344
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 on2019-03-14 02:10:34