Dinamički model mobilnog mehatroničkog sustava sa svesmjernim kotačima

undergraduate thesis

• Title (english): Dynamic model of a mobile mechatronic system with omnidirectional wheels
• Author: Livio Marijan
• 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

U završnom radu kratko su opisane komponente i kinematički model mobilnog
mehatroničkog sustava s četiri svesmjerna kotača. Položajem mehatroničkog sustava
u prostoru te njegovom orijentacijom (zakretom oko vertikalne osi) upravlja se istosmjernim motorima koji pogone kotače. Primjenom Lagrange - Eulerovih jednadžbi
detaljno su izvedene jednadžbe dinamičkog modela sustava. Dinamički model je potom
simuliran u programskom paketu Simulink (Matlab), pri čemu su analizirani odzivi
izlaznih i upravljačkih varijabli sustava za upravljanje pogonskih kotača po naponu i
po momentu.

Abstract (english)

The final paper briefly describes the components and kinematic model of a mobile
mechatronic system with four omnidirectional wheels. The position of the mechatronic
system in space and its orientation (rotation around the vertical axis) is controlled by
DC motors that drive the wheels. Then, with help of Lagrange - Euler equations, the
equations of the dynamic model of the system are derived in detail. The dynamic
model was then simulated in the software package Simulink (Matlab),
where the responses of the output and control variables of the drive wheel control
system by voltage and torque were analyzed.

• Keywords: svesmjerni kotači; kinematički model; Lagrangeove jednadžbe; dinamički model; Simulink; Matlab
• Keywords (english): omnidirectional wheels; kinematic model; Lagrange’s equations; dynamic model; Simulink; Matlab
• Language: croatian
• URN:NBN: urn:nbn:hr:168:970550
• 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 09:24:53