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undergraduate thesis
Konstrukcija i upravljanje sfernog mobilnog robota
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. urn:nbn:hr:235:398852
Matišić, Marko
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

Matišić, M. (2020). Konstrukcija i upravljanje sfernog mobilnog robota (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:398852

Matišić, Marko. "Konstrukcija i upravljanje sfernog mobilnog robota." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:398852

Matišić, Marko. "Konstrukcija i upravljanje sfernog mobilnog robota." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:398852

Matišić, M. (2020). 'Konstrukcija i upravljanje sfernog mobilnog robota', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 29 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:398852

Matišić M. Konstrukcija i upravljanje sfernog mobilnog robota [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2020 [cited 2024 November 29] Available at: https://urn.nsk.hr/urn:nbn:hr:235:398852

M. Matišić, "Konstrukcija i upravljanje sfernog mobilnog robota", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:235:398852

Metadata
TitleKonstrukcija i upravljanje sfernog mobilnog robota
Title (english)Design and control of a spherical mobile robot
AuthorMarko Matišić
MentorAndrej Jokić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2020-09-24, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Nakon uvodnih razmatranja, predstavljena su dva razmatrana koncepta sfernog robota te odabir jednog za danju razradbu. Zatim se Euler – Lagrangeovom metodom izveo matematički model dinamike robota. Kako bi se sustav mogao regulirati linearnim regulatorima potrebno je bilo linearizirati model. Linearizirani model zajedno s definiranim ulazima i izlazima iz sustava zapisan je u obliku prostora stanja. Simuliranjem linearnog i nelinarnog modela analizirano je ponašanje sustava bez regulatora, te promatrajući polove sustava, pokazuje se da je sustav na granici stabilnosti. Kako bi sustav mogao pratiti željene referentne vrijednosti (postavne veličine) sintetizirani su PD i linearni kvadratični regulator (LQR). Također, zbog potrebe estimacije varijabli stanja i uklanjanja šuma mjerenog signala sintetiziran je Kalmanov filtar. Simulacije, provedene u MATLAB-u i Simulinku, pokazuju uspješno reguliranje PD i LQ regulatorima u slučaju stabilizacije u nultom položaju te pozicioniranja, dakako uz različita vremena odziva i karakteristike krivulje. Ipak, PD regulator ne uspijeva pratiti sinusnu referentnu veličinu, za razliku od LQ regulatora, ali i s njim u tom slučaju postoji regulacijska greška.
Abstract (english)
After introductory considerations, two concepts of a spherical mobile robot are considered, and one is chosen for further elaboration. A mathematical model of robot dynamics was derived by the Lagrangian method. In order for the system to be regulated by linear regulators, it was necessary to linearize the model. The linearized model together with the defined inputs and outputs of the system is written in the state space form. By simulating the linear and nonlinear models and observing the poles, the response of a marginally stable system is shown. In order for the system to be able to follow the desired reference values (setpoints), PD and a linear quadratic controllers (LQR) were synthesized. To estimate the state variables and remove the noise of the measured signal, a Kalman filter was synthesized. Simulations, performed in MATLAB and Simulink, show successful control with PD and LQ regulators in the case of stabilization in zero position and positioning, of course with different response times and curve characteristics. However, the PD controller fails to follow the sinusoidal reference value, unlike the LQ controller, which shows a control error.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:398852
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
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Created on2020-09-21 10:06:34