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master's thesis
Upravljanje prijenosom tereta primjenom autonomnih letjelica
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. urn:nbn:hr:235:536716
Ivanković, Margita
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

Ivanković, M. (2019). Upravljanje prijenosom tereta primjenom autonomnih letjelica (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:536716

Ivanković, Margita. "Upravljanje prijenosom tereta primjenom autonomnih letjelica." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:536716

Ivanković, Margita. "Upravljanje prijenosom tereta primjenom autonomnih letjelica." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:536716

Ivanković, M. (2019). 'Upravljanje prijenosom tereta primjenom autonomnih letjelica', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:536716

Ivanković M. Upravljanje prijenosom tereta primjenom autonomnih letjelica [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2019 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:235:536716

M. Ivanković, "Upravljanje prijenosom tereta primjenom autonomnih letjelica", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:235:536716

Metadata
TitleUpravljanje prijenosom tereta primjenom autonomnih letjelica
Title (english)Control of load transportation by using unmanned aerial vehicles
AuthorMargita Ivanković
MentorJosip Kasać (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2019-05-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu razmatran je problem prijenosa tereta primjenom autonomnih letjelica. Prvo je razmatran slučaj jedne autonomne letjelice s pasivno ovješenim teretom, a zatim slučaj prijenosa tereta primjenom dviju autonomnih letjelica u vertikalnoj ravnini. Dinamički modeli letjelica s teretom izvedeni su primjenom Euler-Lagrangeovih jednadžbi. Provedena je linearizacija oba nelinearna sustava, kako bi se dobio pojednostavljeni model, a samim time i jednostavniji upravljački zakoni. Upravljanje autonomnom letjelicom s pasivno ovješenim teretom realizirano je primjenom linearnog kvadratičnog regulatora, te metodom eksterne linearizacije. Upravljanje sustavom s dvije autonomne letjelice realizirano je primjenom linearnog kvadratičnog regulatora. Upravljački zahtjevi prilikom sinteze regulacijskog sustava jedne letjelice s pasivno ovješenim teretom bili su slijeđenje vremenski promjenjive trajektorije uz minimizaciju njihanja tereta. Upravljački zahtjevi u slučaju prijenosa tereta pomoću dvije letjelice bili su stabilizacija tereta u željenoj poziciji uz održavanje zadanog kuta između tereta i obje letjelice. Simulacijskim rezultatima demonstrirane su dobre performanse navedenih regulacijskih sustava.
Abstract (english)
This thesis discusses a load transportation problem using unmanned aerial vehicles (UAVs). Firstly discussed is the case of single UAV with suspended load and then the case of load transportation using two UAVs in the vertical plane. Dynamic models for UAVs with the load are derived by using Euler-Lagrange equations. Both nonlinear systems are linearized, in order to achieve a simplified models and simpler control laws with it. Single UAV control with suspended load is achieved by using linear quadratic regulator and feedback linearization. System control of two UAVs is achieved by using linear quadratic regulator. Controllers for the single UAV with suspended load had to be designed for tracking desired trajectory while minimizing swinging of the load. In the case of the load transportation with two UAVs, controller had to be designed to stabilize the load in desired position while keeping desired angle between the load and both UAVs. Simulation results demonstrate a good performance of mentioned regulated systems.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:536716
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 on2019-05-23 00:49:33