Svesmjerni pogon mobilnog mehatroničkog sustava pomoću propelera

undergraduate thesis

• Title (english): Omnidirectional drive of a mobile mechatronic system with propellers
• Author: Bruno Batista
• Mentor: Mato Baotić (mentor)
• Committee member: Mato Baotić (predsjednik povjerenstva)
• Committee member: Branimir Novoselnik (član povjerenstva)
• Committee member: Vice Živković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Završni rad opisuje razvoj i implementaciju mehatroničkog sustava koji ima svojstva potpuno upravljive platforme pri čemu kretanje omogućuju dva para ortogonalno postavljenih propelera čije su osi rotacije paralelne x i y smjerovima gibanja platforme. Propeleri pomoću sile koje proizvode mogu upravljati platformom, a sila koju stvaraju izražava se pomoću geometrijskih parametara propelera te kutne brzine vrtnje. Izvedeni model sustava sastoji se od jednadžbi za kretanje u x i y smjeru te jednadžbe za rotaciju oko osi koja prolazi kroz središte platforme. Model je izveden u programskom paketu Simulink te su dobiveni odzivi na referentne veličine.

Abstract (english)

This thesis describes the development and implementation of a mechatronic system that has the properties of a fully controllable platform, where the movement is enabled by two pairs of orthogonally placed propellers whose axes of rotation are parallel to the x and y directions of the platform. Propellers can control the platform using the force they produce and the force they generate is expressed by the geometrical parameters of the propeller and the angular velocity of rotation. The derived system model consists of equations for moving in the x and y directions and equation for rotation aroun an axis passing through the center of the platform. The model was performed in the Simulink software package and responses to reference quantities were obtained.

• Keywords: svesmjerni pogon; propeleri; sila; model; Simulink
• Keywords (english): omnidirectional propulsion; propellers; force; model; Simulink
• Language: croatian
• URN:NBN: urn:nbn:hr:168:583989
• 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: 2023-01-14 08:26:11