Upravljanje električnim viličarom s pet stupnjeva slobode pomoću programabilnog logičkog kontrolera

master's thesis

• Title (english): Control of electric forklift with five degrees of freedom using a programmable logic controller
• Author: Marko Zeba
• Mentor: Šandor Ileš (mentor)
• Committee member: Šandor Ileš (predsjednik povjerenstva)
• Committee member: Damir Sumina (član povjerenstva)
• Committee member: Igor Erceg (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-03, Croatia

Abstract

U ovom diplomskom radu opisan je općeniti model viličara s pet stupnjeva slobode. Napravljen je detaljan pregled korištene opreme potrebne za implementaciju niskorazinskog upravljačkog sustava. Opisani su korišteni komunikacijski protokoli za povezivanje uređaja. Napravljeni su potrebni proračuni za kvalitativno upravljanje sustavom trakcije. Definirane su zaštitne zone oko viličara te je isprogramirana sigurnosna logika za praćenje stanja vozila i zaustavljanje za slučaj u nuždi. Opisana je implementacija upravljačkog algoritma za manipulaciju osima viličara na programabilni logički kontroler te je ovaj predloženi sustav upravljanja eksperimentalno testiran i validiran.

Abstract (english)

In this thesis a general model of a forklift with five degrees of freedom is described. An in-depth examination is made of the essential equipment required to implement a low-level control system. A brief description is made of the communication protocols employed for device connectivity. Necessary calculations are carried out for the effective control of the traction system. Protective zones around the forklift are defined and safety logic is programmed to monitor the condition of the vehicle and stop in case of emergency. The implementation of the control algorithm on a programmable logic controller for the manipulation of the forklift's movements is described, and this proposed control system is experimentally tested and validated.

• Keywords: električni viličar; upravljanje; mobilna robotika; programabilni logički kontroler; automatizacija procesa; sigurnosne funkcije
• Keywords (english): electric forklift; control; mobile robotics; programmable logic controller; process automation; safety functions
• Language: croatian
• URN:NBN: urn:nbn:hr:168:008640
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-10-11 11:03:00