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master's thesis
Decentralizirano upravljanje elastično povezanim elektromehaničkim sustavima kolica na klackalici
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. urn:nbn:hr:235:839490
Mihaljevski Boltek, Tin
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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Mihaljevski Boltek, T. (2021). Decentralizirano upravljanje elastično povezanim elektromehaničkim sustavima kolica na klackalici (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:839490

Mihaljevski Boltek, Tin. "Decentralizirano upravljanje elastično povezanim elektromehaničkim sustavima kolica na klackalici." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:235:839490

Mihaljevski Boltek, Tin. "Decentralizirano upravljanje elastično povezanim elektromehaničkim sustavima kolica na klackalici." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:235:839490

Mihaljevski Boltek, T. (2021). 'Decentralizirano upravljanje elastično povezanim elektromehaničkim sustavima kolica na klackalici', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 14 July 2024, https://urn.nsk.hr/urn:nbn:hr:235:839490

Mihaljevski Boltek T. Decentralizirano upravljanje elastično povezanim elektromehaničkim sustavima kolica na klackalici [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2021 [cited 2024 July 14] Available at: https://urn.nsk.hr/urn:nbn:hr:235:839490

T. Mihaljevski Boltek, "Decentralizirano upravljanje elastično povezanim elektromehaničkim sustavima kolica na klackalici", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:235:839490

Metadata
TitleDecentralizirano upravljanje elastično povezanim elektromehaničkim sustavima kolica na klackalici
Title (english)Decentralized control of elastically interconnected electromechanical seesaw cart system
AuthorTin Mihaljevski Boltek
MentorVladimir Milić (mentor)
Committee memberJosip Kasać (predsjednik povjerenstva)
Committee memberJoško Deur (član povjerenstva)
Committee memberMario Hrgetić (član povjerenstva)
Committee memberVladimir Milić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2021-07-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Ovaj rad bavi se implementacijom decentraliziranog robusnog zakona upravljanja koji postiže H∞ performanse na nelinearni mehanički sustav sastavljen od tri nelinearno spregnute klackalice s pomičnom masom. Izveden je matematički model sustava Euler-Lagranegeovom metodom i prikazan je u obliku prostora stanja. Provedena je sinteza regulatora, koja je zajedno s modelom implementirana u Matlab, gdje su izračunata optimalna pojačanja regulatora i observera i simulacijama prikazani odzivi sustava. Odabrana pojačanja implementirana su u eksperimentalni postav, za koji je dorađen već postojeći C++ kod. Također prikazani su i eksperimentalni rezultati.
Abstract (english)
This thesis is concerned with the implementation of a decentralized robust control law that achieves H∞ performances for nonlinear mechanical system composed of three nonlineary interconnected seesaw-cart systems. A mathematical model of the system is derived by the Euler-Lagrages method and then is transferred in the form of a state space. Control law is synthesised and implemented into Matlab together with a mathematical model of a system. Optimal solutions are calculated and optimal controller and observer gains are used to simulate system the response of the seesaw-cart system with proposed control strategy. Selected gains are implemented into existing C++ code and on an experimental system. Experimental results are given and discussed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:839490
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 on2021-07-12 08:45:11