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master's thesis
Balansiranje loptice na gredi
Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2022. urn:nbn:hr:179:838078
Ilić, Petar
University of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
Department of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of the Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture

Cite this document

Ilić, P. (2022). Balansiranje loptice na gredi (Master's thesis). Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:179:838078

Ilić, Petar. "Balansiranje loptice na gredi." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:179:838078

Ilić, Petar. "Balansiranje loptice na gredi." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:179:838078

Ilić, P. (2022). 'Balansiranje loptice na gredi', Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, accessed 18 February 2025, https://urn.nsk.hr/urn:nbn:hr:179:838078

Ilić P. Balansiranje loptice na gredi [Master's thesis]. Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture; 2022 [cited 2025 February 18] Available at: https://urn.nsk.hr/urn:nbn:hr:179:838078

P. Ilić, "Balansiranje loptice na gredi", Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Split, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:179:838078

Metadata
TitleBalansiranje loptice na gredi
Title (english)Balancing the ball on the beam
AuthorPetar Ilić
MentorDamir Sedlar (mentor)
GranterUniversity of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
(Department of Mechanical Engineering and Naval Architecture)
Split
Defense date and country2022-07-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Loptica se vraća u zadani položaj na sredini grede nakon što se rukom odgurne na početni položaj odnosno kraj grede. Automatska kontrola položaja loptice odnosno balansiranje loptice omogućeno je implementacijom PID regulatora u hrvatsku inačicu mikrokontrolera Arduino koja upravlja servomotorom pomoću kojeg greda rotira oko središnjeg oslonca. PID regulator nastoji ukloniti grešku koju prepoznaje kao razliku zadanog i stvarnog položaja loptice, te pomoću podešavanja proporcionalne, integracijske i derivacijske konstante generira upravljački signal. Stvarni položaj loptice učitava se pomoću ultrazvučnog senzora. Konstante PID regulatora podešene su praćenjem ponašanja sustava te proučavanjem snimljenih odziva ponašanja sustava. U interpreteru MATLAB generiran je matrični zapis modela stanja-prostora pomoću diferencijalnih jednadžbi koje su dobivene pomoću matematičkog modela loptice na gredi. Također je simuliran linearni dinamički zapis sustava te je pomoću matrice pojačanja postignut odziv koji odgovara balansiranju loptice na gredi.
Abstract (english)
The ball returns to the default position in the middle of the beam after being pushed by hand to the starting position or the end of the beam. Automatic control of the ball position, ie ball balancing, is enabled by the implementation of the PID controller in the Croatian version of the Arduino microcontroller, which controls the servomotor with which the beam rotates around the central support. The PID controller tries to eliminate the error that it recognizes as the difference between the set and actual position of the ball, and by adjusting the proportional, integration and derivation constants it generates a control signal. The actual position of the ball is loaded using an ultrasonic sensor. The constants of the PID controller are set by monitoring the system behavior and studying the recorded system behavior responses. In the MATLAB interpreter, a matrix notation of the state-space model was generated using differential equations obtained using the mathematical model of a ball on a beam. A linear dynamic notation of the system was also simulated, and a response corresponding to balancing the ball on the beam was achieved using a gain matrix.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:179:838078
Study programmeTitle: Mechanical Engineering; specializations in: Structures and Energy Technology, Computer Aided Design and Engineering, Production Mechanical Engineering
Course: Computer Aided Design and Engineering
Study programme type: university
Study level: graduate
Academic / professional title: Magistar/magistra inženjer/inženjerka strojarstva (Magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to authenticated users
Terms of useLicence In copyright icon
Created on2023-05-05 13:13:10