Primjena PID regulatora na upravljanje laboratorijskim mehatroničkim sustavom

master's thesis

• Title (english): Application of PID controllers to a laboratory mehatronic system
• Author: Bruno Batista
• Mentor: Branimir Novoselnik (mentor)
• Committee member: Branimir Novoselnik (član povjerenstva)
• Committee member: Mato Baotić (član povjerenstva)
• Committee member: Vinko Lešić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U diplomskom radu opisana je primjena PID regulatora za upravljanje mehatroničkim sustavom. Najprije je izveden matematički model koji je zapisan u prostoru stanja te potom lineariziran. Na postavu se razlikuju dvije pozicije njihala kojim se upravlja, a to su viseći i uspravan položaj. Za svaki od njih, u simulacijskom okruženju Simulink provedeno je više različitih postupaka projektiranja PID regulatora, a glavni kriterij za odabir parametara regulatora je ISE kriterij. Upravljanje je uspješno ostvareno za oba položaja njihala te su u radu opisane prednosti i nedostaci prilikom projektiranja pojedinog PID regulatora. Svaki od projektiranih regulatora u simulaciji testiran je i na stvarnom sustavu.

Abstract (english)

Master’s thesis describes application of PID controller for controlling mechatronic system. Firstly, mathematical model is described, then it is written as state space model and finally linearized. There are two different positions of pendulum that is controlled, and these are hanging position and upright position. For each of them, in Simulink simulation environment, several different procedures of designing PID controller were performed and main criteria for finding PID controller parametres was ISE criteria. Control was successfully accomplished for both pendulum positions and advantages as well as disadvantages of each controller designing procedure are described in thesis. Each of controller designed in simulation is tested on real mechatronic system.

• Keywords: PID regulator; ISE kriterij; njihalo; Simulink; prostor stanja; projektiranje
• Keywords (english): PID controller; ISE criteria; pendulum; Simulink; state space; designing
• Language: croatian
• URN:NBN: urn:nbn:hr:168:564431
• 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: 2023-01-14 08:26:26