Sustav upravljanja laboratorijskim modelom samobalansirajućeg gradskog vozila

undergraduate thesis

• Title (english): Control system of laboratory model of selfbalancing urban vehicle
• Author: Sven Kadojić Balaško
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Goran Josipović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom je radu opisan model samobalansirajućeg gradskog vozila i izvedena simulacija njegovog rada. Pomoću Lagrangeove mehanike izvedene su jednadžbe sustava, koje su zatim bile linearizirane. Metodom postavljanja polova je sustav aproksimiran sustavom drugog reda te sintetiziran regulator. Simulacija je izvršena u MATLAB i Simulink okruženju na četiri različita oblika gibanja.

Abstract (english)

This paper describes the model of a self - balancing city vehicle and a simulation of its operation. The equations of the system were derived using Lagrange mechanics, which were then linearized. Using the pole placement method the system was approximated by a second order system and a regulator was synthesized. The simulation was performed in the MATLAB and Simulink program environment on four different forms of motion.

• Keywords: Upravljanje; segway; samobalansirajuće vozilo; Lagrangeova mehanika; postavljanje polova; Arduino mikrokontroler; MATLAB; Simulink
• Keywords (english): Control; segway; self-balansing vehicle; Lagrange mechanics; pole placement; Arduino microcontroller; MATLAB; Simulink
• Language: croatian
• URN:NBN: urn:nbn:hr:168:874234
• 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 09:03:26