Primjena vlastitih oscilacija u vođenju i upravljanju plovilima

doctoral thesis

• Title (english): Use of Self–Oscillations in Guidance and Control of Marine Vessels
• Author: Nikola Mišković
• Mentor: Zoran Vukić (mentor)
• Committee member: Vesna Županović (predsjednik povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2010-04-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering
• Universal decimal classification (UDC): 621.3 - Electrical engineering

Abstract

Ova disertacija predstavlja identifikacijsku metodu temeljenu na vlastitim oscilacijama (IVO) koja se koristi u svrhu vođenja i upravljanja plovilima (podvodnim i površinskim). Predloženi postupak je opisan za opću klasu nelinearnih sustava i dan je opći algoritam, temeljen na matriènom zapisu, za statièke linearne vremenski nepromjenjive sustave uz modifikacije za diskretne sustave, astatističke sustave i sustave s transportnim kašnjenjem. Posebna je pažnja posvećena klasi afinih nelinearnih modela sustavâ koji se koriste za opis dinamike plovila. Glavna prednost predložene metode je primjenjivost tijekom rada na terenu i vremenska štedljivost. IVO postupak je eksperimentalno ispitan na dvije bespilotne ronilice i bespilotnom površinskom plovilu, i dana je usporedba sa konvencionalnim identifikacijskim postupcima, koja dokazuje toènost predloženog postupka na stvarnim plovilima koja rade u terenskim uvjetima. Rezultati identifikacije su iskorišteni za projektiranje regulatorâ kursa, regulatorâ udaljenosti i regulatorâ za praæenje linije. Eksperimentalni rezultati dobiveni na stvarnim plovilima su prezentirani u disertaciji.

Abstract (english)

This dissertation presents an identification method based on self–oscillations (IS–O) used for the purpose of guidance and control of marine vessels (underwater and surface). The proposed method is described for a general class of nonlinear systems and a general, matrix based algorithm is given for static (Type 0) linear time invariant systems with its modification for discrete–time systems, astatic systems (Type k) and systems with delays. Special attention is devoted to a class of affine nonlinear system models which are used to describe the dynamics of marine vehicle. The main advantage of the proposed method is its applicability during in the field operation and time parsimony. The IS–O method is experimentally tested on two unmanned underwater vehicles and an unmanned surface marine vessel, and comparison to conventional identification methods is given, proving the accuracy of the proposed method on real marine vehicles operating in the field conditions. The identification results are used for the design of heading controllers, distance keeping controllers and line following controllers. Experimental results obtained from real marine vehicles are presented in the thesis.

• Keywords: plovila; bespilotne ronilice; bespilotna površinska plovila; nelinearni sustavi; identifikacija; vlastite oscilacije; vođenje i upravljanje plovilima; praćenje linije; držanje udaljenosti
• Keywords (english): marine vessels; unmanned underwater vehicles; unmanned surface vehicles; nonlinear systems; identification; self–oscillations; control and guidance of marine vehicles; line following; distance keeping
• Language: croatian
• URN:NBN: urn:nbn:hr:168:682779
• Promotion: 2010
• Study programme: Title: Doctoral study programme "Electrical Engineering and Computing"; Study programme type: university; Study level: postgraduate; Academic / professional title: doktor/doktorica znanosti, po-dručje tehničkih znanosti (doktor/doktorica znanosti, po-dručje tehničkih znanosti)
• Type of resource: Text
• Extent: ix, 189 str. : graf. prikazi
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-03-19 12:51:25