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doctoral thesis
Upravljački algoritam za podupravljane mehaničke sustave s uključenom dinamikom pogona
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2010. urn:nbn:hr:235:135327
Žilić, Tihomir
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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Žilić, T. (2010). Upravljački algoritam za podupravljane mehaničke sustave s uključenom dinamikom pogona (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:135327

Žilić, Tihomir. "Upravljački algoritam za podupravljane mehaničke sustave s uključenom dinamikom pogona." Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2010. https://urn.nsk.hr/urn:nbn:hr:235:135327

Žilić, Tihomir. "Upravljački algoritam za podupravljane mehaničke sustave s uključenom dinamikom pogona." Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2010. https://urn.nsk.hr/urn:nbn:hr:235:135327

Žilić, T. (2010). 'Upravljački algoritam za podupravljane mehaničke sustave s uključenom dinamikom pogona', Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 16 February 2025, https://urn.nsk.hr/urn:nbn:hr:235:135327

Žilić T. Upravljački algoritam za podupravljane mehaničke sustave s uključenom dinamikom pogona [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2010 [cited 2025 February 16] Available at: https://urn.nsk.hr/urn:nbn:hr:235:135327

T. Žilić, "Upravljački algoritam za podupravljane mehaničke sustave s uključenom dinamikom pogona", Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2010. Available at: https://urn.nsk.hr/urn:nbn:hr:235:135327

Metadata
TitleUpravljački algoritam za podupravljane mehaničke sustave s uključenom dinamikom pogona
Title (english)Control algorithm for underactuated mechanical systems with included actuators dynamics
AuthorTihomir Žilić
MentorMario Essert (mentor)
MentorŽeljko Šitum (komentor)
Committee memberBranko Novaković (predsjednik povjerenstva)
Committee memberMario Essert (član povjerenstva)
Committee memberŽeljko Šitum (član povjerenstva)
Committee memberJoško Petrić (član povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2010-06-17, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Basic Technical Sciences
Automatics
Universal decimal classification
(UDC)		621 - Mechanical engineering. Nuclear technology. Machinery
Abstract
U ovom radu izvodi se opći upravljački algoritam za istodobno stabiliziranje i praćenje trajektorija podupravljanih nelinearnih mehaničkih sustava (UNMS) s električnim, pneumatskim i hidrauličkim pogonima (aktuatorima). Istodobna stabilizacija i praćenje trajektorija odnosi se na stupnjeve slobode gibanja sustava, a obuhvaćaju se neholonomni sustavi drugog reda i sustavi sa spregom ulaznih veličina. Algoritam rješava probleme koji nastaju zbog podupravljanosti, zanemarivanja dinamike pogona i zanemarivanja statičkog trenja. S njim su poboljšane značajke zatvorenog upravljačkog kruga u odnosu na sustave sa zanemarenom dinamikom pogona i/ili zanemarenim statičkim trenjem kakvi se često koriste. Rješavanje ovakvih problema zahtijeva upravljačke algoritme temeljene na regulatorima s promjenjivom strukturom. Matematička jednostavnost novo uvedenog algoritma omogućuje laku ugradnju u računalne programe, pa je algoritam pogodan za realizaciju u praksi. Značaj ovog istraživanja leži u upravljačkom zakonu koji svojom uporabom omogućuje upravljanje proizvoljno odabranim stupnjevima slobode gibanja sustava s ciljem zadovoljenja kvalitativnih značajki regulacije. To rezultira stabilnim i robusnim ponašanjem podupravljanih sustava.
Abstract (english)
Control algorithm for simultaneous stabilizing and trajectory tracking of underactuated nonlinear mechanical systems (UNMS) with electrical, pneumatic and hydraulic actuators is carried by the paper. Simultaneous stabilization and trajectory tracking refer to degrees of freedom of the system, where UNMS include second order nonholonomic systems and systems with input coupling. The algorithm solves problems that arise due to the underactuation, neglecting actuators dynamics and neglecting static friction. By use of the algorithm, the closed loop system achieves better performances than the systems with neglected actuator dynamics and/or neglected static friction, as often the case is. Control algorithms based on the variable structure controllers are needed for solving these problems. Mathematical simplicity of the new algorithm enables simple implementation in computer applications and because of that the algorithm is suitable for putting into practice. The paper is significant due to the control law; it enables control of arbitrary chosen degrees of freedom aiming to meet the qualitative performances of control. The result is stable and robust behaviour of the underactuated systems.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:135327
Study programmeTitle: Mechanical Engineering and Naval Architecture
Study programme type: university
Study level: postgraduate
Academic / professional title: doktor/doktorica znanosti, područje tehničkih znanosti (doktor/doktorica znanosti, područje tehničkih znanosti)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2020-06-30 12:27:13