Projektiranje laboratorijskog postava helikoptera s dva stupnja slobode

undergraduate thesis

• Title (english): Design of a 2 DOF helicopter laboratory process
• Author: Nikša Ovčina
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Bojan Spahija (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovome radu opisan je izgled laboratorijskog postava helikoptera s dva stupnja slobode te je za isti određen nelinearni matematički model Lagrangeovom metodom preko potencijalne i kinetičke energije sustava koji je naknadno lineariziran oko točke 𝜃 = 0 kako bi se sintetizirao regulator u prostoru stanja LQR metodom. Rad regulatora testiran je na nelinearnom matematičkom modelu, a kao nastavak na ovaj rad predviđa se testiranje na realnom sustavu. Simulacija regulacijskog kruga izvršena je u softveru MATLAB i Simulink.

Abstract (english)

In this undergraduate thesis physical laboratory model of 2DOF helicopter and procedure of determining non- linear mathematical model by Lagrange's method via potential energy and kinetic energy of the system are described. The model was subsequently linearized around 𝜃 = 0 so regulator could be synthesized in the state space by LQR method. The regulator was tested on non-linear mathematical model. Simulation was performed using software MATLAB and Simulink.

• Keywords: LQR; linearni kvadratni regulator; Nucleo F411RE mikrokontroler; VNH2SP30; Lagrange; energija; upravljanje; MATLAB; Simulink
• Keywords (english): LQR; Linear Quadratic Regulator; Nucleo F411RE microcontroller; VNH2SP30; Lagrange; energy; control; MATLAB; Simulink
• Language: croatian
• URN:NBN: urn:nbn:hr:168:787310
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 20:53:20