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master's thesis
Robusno upravljanje elektrohidrauličkog servosustava primjenom metode povratnog koraka
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. urn:nbn:hr:235:689611
Pinculić, Hrvoje
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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

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Pinculić, H. (2017). Robusno upravljanje elektrohidrauličkog servosustava primjenom metode povratnog koraka (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:689611

Pinculić, Hrvoje. "Robusno upravljanje elektrohidrauličkog servosustava primjenom metode povratnog koraka." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:689611

Pinculić, Hrvoje. "Robusno upravljanje elektrohidrauličkog servosustava primjenom metode povratnog koraka." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:689611

Pinculić, H. (2017). 'Robusno upravljanje elektrohidrauličkog servosustava primjenom metode povratnog koraka', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 24 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:689611

Pinculić H. Robusno upravljanje elektrohidrauličkog servosustava primjenom metode povratnog koraka [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2017 [cited 2024 December 24] Available at: https://urn.nsk.hr/urn:nbn:hr:235:689611

H. Pinculić, "Robusno upravljanje elektrohidrauličkog servosustava primjenom metode povratnog koraka", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:235:689611

Metadata
TitleRobusno upravljanje elektrohidrauličkog servosustava primjenom metode povratnog koraka
Title (english)Robust control of an electro-hydraulic servo system using backstepping method
AuthorHrvoje Pinculić
MentorŽeljko Šitum (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2017-07-20, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Tema ovog diplomskog rada je robusno upravljanje elektrohidrauličkog servosustava primjenom metode povratnog koraka (eng. backstepping). Cilj ovog rada je dobivanje matematičkog modela koji opisuje dinamiku elektrohidrauličkog sustava upravljanog nelinearnim backstepping regulatorom. U radu je opisan elektrohidraulički sustav i njegove komponente te je izveden matematički model nelinearnog sustava i opisana je metoda povratnog koraka (eng. backstepping control) robusnog nelinearnog upravljanja kao i primjena na elektrohidrauličkom servosustavu. Simulacija je napravljena u programskog paketu Matlab (Simulink). Na ulaz simulacijskog modela dovode se pobudni signali različitog oblika i prati se odziv sustava. Referentni signal izveden je kao napon (-10 V do +10 V) koji predstavlja položaj klipa cilindra (0 ÷ 300 mm) a na temelju regulacijskog odstupanja regulator pratit referenti signal. Kada je dobiveno zadovoljavajuće ponašanje modela napravljen je eksperiment na laboratorijskom postavu elektrohidrauličkog sustava gdje je uspoređen klasični PID regulatora s regulatorom povratnog koraka.
Abstract (english)
The subject of this thesis is robust control of an electro-hydraulic servo system using backstepping method. Objective of this process is to get a mathematical model which describes dynamics of electro-hydraulic system with backstepping controller and make possible to control position of piston in hydraulics cylinder. The electro-hydraulic servo system and its components are described in this thesis. Synthesis of mathematical model of the nonlinear electrohydraulic system with backstepping control is also described. The simulation was made in Matlab program package. Input of the system is voltage (from -10 V to +10V) indicating the position of the cylinder piston (0 ÷ 300mm) entering the regulator and trying to track the reference signal. When there is satisfying behaviour of the model, an experiment was performed on the laboratory model of the electrohydraulic system where the classical PID controller was compared with backstepping controller.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:689611
Study programmeTitle: Mechanical 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 conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 19:43:41