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undergraduate thesis
Regulacija položaja slabo prigušenih inercijskih sustava
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:156877
Bešenić, Toni
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

Bešenić, T. (2024). Regulacija položaja slabo prigušenih inercijskih sustava (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:156877

Bešenić, Toni. "Regulacija položaja slabo prigušenih inercijskih sustava." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:156877

Bešenić, Toni. "Regulacija položaja slabo prigušenih inercijskih sustava." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:156877

Bešenić, T. (2024). 'Regulacija položaja slabo prigušenih inercijskih sustava', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:156877

Bešenić T. Regulacija položaja slabo prigušenih inercijskih sustava [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:235:156877

T. Bešenić, "Regulacija položaja slabo prigušenih inercijskih sustava", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:156877

Metadata
TitleRegulacija položaja slabo prigušenih inercijskih sustava
Title (english)Position control of low damped inertial systems
AuthorToni Bešenić
MentorMladen Crneković (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-09, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Process Energy Engineering
Abstract
Cilj ovog rada je proučavanje načina reguliranja položaja slabo prigušenih inercijskih sustava. Na početku navodimo par primjera takvih sustava korištenih u praksi. Algoritam regulacije jednog takvog sustava ćemo prikazati pomoću makete kuglice na kosini čiji se položaj može regulirati pomoću senzora daljine kuglice, senzora nagiba, mikroupravljača te motora koji zakreće kosinu. Tako se može prikazati djelovanje digitalnog PID regulatora na slabo prigušeni, podupravljani, nelinearni sustav poput ove makete kuglice na kosini.[2] Za ostvarenje makete je potrebno izvesti matematički model koji opisuje dinamiku sustava. Izvedeni model ćemo zatim pojednostaviti i linearizirati kako bi ga lakše simulirali. Zatim slijedi odabir komponenti koje će se koristiti u sustavu. Kada imamo opisanu dinamiku i specifikacije odabranih komponenti možemo krenuti u konstrukcijsku razradu i izvedbu. Nakon fizičke izvedbe dodajemo ostatak komponenti te programiramo mikroupravljač.
Abstract (english)
The aim of this work is to study the methods of controlling the position of lightly damped inertial systems. At the beginning, we provide a few examples of such systems used in practice. We will demonstrate the control algorithm of one such system using a model of a ball on an incline, where the position of the ball can be controlled using a distance sensor, an inclination sensor, a microcontroller, and a motor that tilts the incline. In this way, we can demonstrate the operation of a digital PID controller on a lightly damped, underactuated, nonlinear system like this ball-on-an-incline model. To construct the model, it is necessary to develop a mathematical model that describes the system’s dynamics. The developed model will then be simplified and linearized to facilitate simulation. Next comes the selection of the components that will be used in the system. Once the dynamics are described and the specifications of the selected components are defined, we can proceed with the design and implementation. After the physical implementation, we add the remaining components and program the microcontroller.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:156877
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
Terms of useLicence In copyright icon
Created on2024-09-20 09:03:21