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undergraduate thesis
Modeliranje i sinteza regulatora daljinski upravljane letjelice
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:766567
Ključarić, Martin
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Ključarić, M. (2024). Modeliranje i sinteza regulatora daljinski upravljane letjelice (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:766567

Ključarić, Martin. "Modeliranje i sinteza regulatora daljinski upravljane letjelice." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:766567

Ključarić, Martin. "Modeliranje i sinteza regulatora daljinski upravljane letjelice." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:766567

Ključarić, M. (2024). 'Modeliranje i sinteza regulatora daljinski upravljane letjelice', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 28 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:766567

Ključarić M. Modeliranje i sinteza regulatora daljinski upravljane letjelice [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 December 28] Available at: https://urn.nsk.hr/urn:nbn:hr:235:766567

M. Ključarić, "Modeliranje i sinteza regulatora daljinski upravljane letjelice", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:766567

Metadata
TitleModeliranje i sinteza regulatora daljinski upravljane letjelice
Title (english)Modelling and controller synthesis of a remotely controlled aircraft
AuthorMartin Ključarić
MentorVladimir Milić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-09-24, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Basic Technical Sciences
Automatics
Abstract
Regulacijski uređaji za upravljanje zrakoplovima široko su rasprostranjeni u raznim sektorima zrakoplovstva. U uporabi su preko sto godina jer pružaju mnoge prednosti, kao što su smanjenje zamora pilota, smanjenje trošenja zrakoplova, smanjenje potrošnje goriva itd. Kako bi se projektirali, potrebno je poznavati dinamiku letjelice kojom se upravlja. Opisuje ju se matematičkim modelima, simulacijama u zračnim tunelima, a u zadnjih 20-ak godina sve više koristeći CFD (eng. computational fluid dynamics) softver. U skladu s navedenim, u ovom završnom radu izvedena je sinteza I-PD regulatora (još poznat kao setpoint on I controller) temeljenog na tzv. linearnom kvadratnom regulatoru (LQR). Proračun parametra ovog uređaja može se izvesti na razne načine, ali se u današnjici vrlo pogodnom pokazala metoda bazirana na rješavanju linearnih matričnih nejednadžbi (LMI). Ova metoda posebno je povoljna za sintezu regulatora sustava čiji se parametri ne mogu lako pronaći korištenjem starijih metoda poput Ackermannove. Opisani regulator realizirao se koristeći neke od sve moćnijih komercijalno dostupnih mikroupravljača, uz žiroskopski senzor kao povratnu vezu. Ponašanje realiziranog regulatora, a i kvaliteta LMI-LQR metode, također je provjerena na vlastoručno izrađenom RC modelu
Abstract (english)
Controllers for the purpose of controlling aircraft have been widely adopted in various sectors of aeronautical engineering. They have been in use for some one hundred years now, due in part to the many advantages they provide, such as reducing pilot fatigue, reducing wear on aircraft, reducing fuel consumption etc. In order to devise them, it is necessary to understand the dynamics of the aircraft one desires to control. To this end, mathematical models, air tunnel simulations and CFD (abbr. of computational fluid dynamics) simulations, which have become widely adopted in the last 20 years, are utilized. In accordance with the aforementioned information, an I-PD controller (also known as a setpoint on I controller) was designed based on the theory behind so-called linear-quadratic regulators (LQR). Calculating the parameters of this device may be done in various ways, however in today's age a method based on linear matrix inequalities (LMI) was shown to be adequate. This method is especially useful for deriving the parameters of controllers of plants whose parameters can't be easily acquired using older methods such as Ackermann's. The described controller was realized using some of the increasingly powerful commercially available microcontrollers, together with a gyroscopic sensor as a feedback loop. The behavior of the devised controller, along with the quality of the LMI-LQR method, was evaluated on a handmade RC model.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:766567
Study programmeTitle: Mechatronics and Robotics
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike)
Type of resourceText
File originBorn digital
Access conditionsOpen access
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Created on2024-09-19 10:47:04