Projektiranje sustava upravljanja samostabilizajućim urbanim vozilom na dva kotača

master's thesis

• Title (english): Design of Control System for Two-Wheel Selfstabilizing Urban Vehicle
• Author: Ivan Gulin
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Željko Jakopović (član povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-09-04, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom diplomskom radu pokušali smo projektirati sustav za urbano vozilo na dva kotača koja ima zahtjeve za samostabilizacijom. Ključna ideja je neutralizirati vanjske okretne momente koji se primjenjuju na vozilu pomoću dva žiroskopa koja proizvode suprotni okretni moment. U ovom radu žiroskopi predstavljamo kao aktuatore a ne kao senzore. Prilikom primjene momenta radi rotacije žiroskopa čiji se disk vrti, tada žiroskop stvara precesiju te na taj način stvara moment koji je ortogonalan i za okretni moment i za os okretanja. Ovaj fenomen je poznat je kao žiroskopska precesija. Ukoliko se vozilo ne nalazi u ravnotežnom položaju žiroskopi bi trebali stvoriti dovoljno momenta da vozilo vrate u ravnotežni položaj.

Prvo izvodimo jednadžbe kretanja temeljene na Lagrangeovoj mehanici. Važno je spomenuti da uzmemo u obzir samo dinamiku kontrole statičkog vozila. Lineariziramo dinamiku sustava oko ravnoteže te proučavamo stabilnost sustava. Zatim projektiramo LQR regulator koji nam omogučava da sustav dovedemo u stabilno stanje. Provodimo simulacije gdje dolazimo do zaključka da iako je sustav na početku nestabilan pomoću regulatora uspjevamo zadovoljiti zahtjev stabilizacije.

Abstract (english)

In this master thesis, we tried to design a two-wheeled urban vehicle with self- stabilization
requirements. The key idea is to neutralize the external torque applied to the vehicle by two
gyroscopes that produce an counter torque. In this paper we present the gyroscopes actuators, not as sensors. When a torque is applied in order to rotate a gyroscope whose
flywheel is spinning, then the gyroscope precesses and it generates a moment, orthogonal to
both the torque and the spinning axis. This phenomenon is known as gyroscopic precession.
If the vehicle is not in the equilibrium position, the gyroscopes should create enough
moment to return the vehicle to its equilibrium position.

First, we derive equations of motion based on Lagrangian mechanics. It is important to
mention that we only consider the control dynamics of a static vehicle. We linearize the
system dynamics around equilibrium and study the stability of the system. Then we design
an LQR regulator that allows us to bring the system into a stable state. We conduct
simulations where we come to the conclusion that although the system was initially
unstable, we were able to meet the stabilization requirements with regulators.

• Keywords: Žiroskopski efekt; Samostabilizirajuce vozilo; Urbano vozilo; Dinamika vozila; LQR regulator
• Keywords (english): Gyroscopic effect; Self-stabilizing vehicle; Urban vehicle; Vehicle dynamics; LQR controller
• Language: croatian
• URN:NBN: urn:nbn:hr:168:514631
• 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: 2019-03-13 20:43:54