Mehatronički mobilni sustav s ugradbenim računalnim sustavom myRIO

master's thesis

• Title (english): Mehatronic mobile system with myRIO embedded system
• Author: Matija Juranović
• Mentor: Mato Baotić (mentor)
• Committee member: Mato Baotić (predsjednik povjerenstva)
• Committee member: Mario Vašak (član povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-09-27, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U sklopu diplomskog zadatka bilo je potrebno opisati i projektirati mehatronički mobilni sustav sa svesmjernim pogonom. Napraviti dizajn sustava uporabom odgovarajućih CAD alata. Proučiti, odabrati odgovarajuće komponente, senzore i aktuatore, kotače i motore neophodne za rad i upravljanje mehatroničkim sustavom pomoću ugradbenog sustava myRIO. Izraditi matematički model (pod)sustava u programskom okruženju Matlab. Omogućiti komunikaciju i funkcionalnost senzora i aktuatora korištenjem ugradbenog računalnog sustava myRIO te programiranja istog u programskom paketu LabVIEW. Implementirati sustav upravljanja i/ili estimacije stanja Kalmanovim filtorm (pod)sustava u programskom paketu LabVIEW, odnosno preko njega poboljšati mjeranja pozicije koja daju dupla integacija akcelerometra i žiroskop.

Abstract (english)

As part of the graduate thesis, it was necessary to describe and design a mechatronic mobile system with omnidirectional drive. To create system design using the appropriate CAD tools. To study and select the appropriate components, sensors and actuators, wheels and motors necessary for operation and control of the mechatronic system using the myRIO installation system. To develop mathematical model (sub) systems in the Matlab programming environment. To enable communication and functionality of sensors and actuators using the myRIO embedded computer system and programming it in the LabVIEW software package. To implement Kalman's filter management system (s) in the LabVIEW program package, respectively to improve the positioning measurements that provided accelerometer duble integration and gyroscope by using it.

• Keywords: Mobilna platforma; myRIO; Kalman; LabVIEW; mehatronički sustav; Matlab; senzori; CAD alati
• Keywords (english): Mobile Platform; myRIO; Kalman; LabVIEW; Mechatronic System; Matlab; Sensors; CAD Tools
• Language: croatian
• URN:NBN: urn:nbn:hr:168:298543
• 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 21:17:30