Upravljački algoritam za podupravljane mehaničke sustave s uključenom dinamikom pogona

Žilić, Tihomir

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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

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APA 6th Edition

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

MLA 8th Edition

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

Chicago 17th Edition

Harvard

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 19 April 2024, https://urn.nsk.hr/urn:nbn:hr:235:135327

Vancouver

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 2024 April 19] Available at: https://urn.nsk.hr/urn:nbn:hr:235:135327

IEEE

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

Cite this item: https://urn.nsk.hr/urn:nbn:hr:235:135327

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Metadata

Title	Upravljački algoritam za podupravljane mehaničke sustave s uključenom dinamikom pogona
Title (english)	Control algorithm for underactuated mechanical systems with included actuators dynamics
Author	Tihomir Žilić
Mentor	Mario Essert (mentor)
Mentor	Željko Šitum (komentor)
Committee member	Branko Novaković (predsjednik povjerenstva)
Committee member	Mario Essert (član povjerenstva)
Committee member	Željko Šitum (član povjerenstva)
Committee member	Joško Petrić (član povjerenstva)
Committee member	Zdenko Kovačić (član povjerenstva)
Granter	University of Zagreb Faculty of Mechanical Engineering and Naval Architecture Zagreb
Defense date and country	2010-06-17, 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)
Language	croatian
URN:NBN	urn:nbn:hr:235:135327
Study programme	Title: 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 resource	Text
File origin	Born digital
Access conditions	Open access
Terms of use
Repository	Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb
Created on	2020-06-30 12:27:13

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