Razvoj upravljivog mobilnog mehatroničkog sustava

master's thesis

• Title (english): Development of a controllable mobile mehatronic system
• Author: Blaž Korotaj
• Mentor: Mato Baotić (mentor)
• Committee member: Mato Baotić (predsjednik povjerenstva)
• Committee member: Vinko Lešić (član povjerenstva)
• Committee member: Branimir Novoselnik (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Kao prvi korak u razvoju mobilnog mehatroničkog sustava napravljeno je projektiranje
same platforme pomoću CAD alata SolidWorks. Projektiranje je provedeno uz
pretpostavku poznatih/fiksiranih dimenzija dijelova sustava i svih komponenata. Nadalje,
opisan je kinematički model platforme te kinematika svesmjernih kotača. Dodatno
je opisano načelo rada pojedinih senzora kako bi se mogla implementirati fuzija senzora
diskretnim Kalmanovim filtrom (DKF). Izvedeni su izrazi za realizaciju diskretnog
linearnog Kalmanovog filtra te diskretnog proširenog Kalmanovog filtra (D-EKF)
zbog potrebe fuzije magnetometra i žiroskopa, a kasnije I za samu estimaciju položaja i
orijentacije mobilnog mehatroničkog sustava. Pored mjerenja kuta dobivenog fuzijom
magnetometra i žiroskopa, kao dodatni ulaz u D-EKF koriste se i mjerenja dobivena
akcelerometrom. Zbog toga je sustav potrebno proširiti s još četiri stanja kako bi se
mogla izraziti jednadžba mjerenja, odnosno izlazna jednadžba. Simulacija estimacije
stanja provedena je u programskom okruženju MATLAB/Simulink. Dobiveni odzivi
estimacije položaja i orijentacije prikazuju veliku točnost te dobru implementaciju D-EKF-a.

Abstract (english)

As the first step in the development of a mobile mechatronic system, the design
of the platform itself was made using the CAD tool SolidWorks. The design was
performed under the assumption of known/fixed dimensions of system parts and all
components. Furthermore, the kinematic model of the platform and the kinematics of
the omnidirectional wheel drive are described. The principle of operation of individual
sensors is additionally described in order to implement sensor fusion with a discrete
Kalman filter (DKF). Expressions for the realization of a discrete linear Kalman filter
and a discrete extended Kalman filter (D-EKF) are derived due to the need for fusion
of a magnetometer and gyroscope, and later for the estimation of the position and orientation
of a mobile mechatronic system. As an additional input besides measuring the
angle obtained by fusing a magnetometer and gyroscope in D-EKF, an accelerometer
measurements are also used. Therefore, the system needs to be expanded with four
more conditions in order to be able to express the measurement equation, relatively
the output equation. The state estimation simulation was performed in the MATLAB/
Simulink programming environment. The obtained position estimation and orientation
responses show high accuracy and good implementation of D-EKF.

• Keywords: SolidWorks; Mobilna platforma; Svesmjerni kotač; Mehatronički sustav; Kinematički model; Fuzija senzora; Diskretni prošireni Kalmanov filtar; Estimacija stanja
• Keywords (english): SolidWorks; Mobile platform; Omnidirectional wheel; Mechatronic system; Kinematic model; Sensor fusion; Discrete extended Kalman filter; State estimation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:455420
• 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: 2023-01-15 10:32:56