Modelsko prediktivno upravljanje laboratorijskim mehatroničkim sustavom

master's thesis

• Title (english): Model predictive control of a laboratory mehatronic system
• Author: Livio Marijan
• 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 dan je kratak pregled korištenog laboratorijskog postava te
je detaljno izveden nelinearni matematički model Furuta njihala. Model je zapisan u
prostoru stanja, lineariziran oko uspravnog i viseceg položaja te diskretiziran. Projektirani su diskretni linearni kvadratni regulator (DLQR) te regulator koji ostvaruje
modelsko prediktivno upravljanje (MPC regulator). Dana je teorijska pozadina te je
opisan postupak implementacije navedenih regulatora. Oba regulatora su simulirana u
Simulink okruženju unutar programskog alata Matlab. Prikazani su i komentirani odzivi uz linearizirani diskretni model i nelinearni kontinuirani model procesa za uspravni
i viseći položaj njihala. Ovako projektirani regulatori osiguravaju dobre karakteristike
vladanja i na stvarnom laboratorijskom postavu.

Abstract (english)

In the masters thesis, a brief overview of the used laboratory system is given, and
a nonlinear mathematical model of the Furuta pendulum is thoroughly derived. The
model is expressed in a state space form, linearized around the upright and downward
positions, and discretized. A discrete linear quadratic controller (DLQR) and a model
predictive control controller (MPC controller) were designed. In addition, the theoretical background of these regulators is described, as well as the implementation
procedure. Both controllers were simulated in the Simulink environment of the Matlab
software. Responses with a linearized discrete plant and a nonlinear continuous plant
for upright and downward positions are presented and commented. Regulators designed in this way ensure good performances of the closed loop system when tested on
the real laboratory system.

• Keywords: Furuta njihalo; Lagrangeove jednadžbe; nelinearan matematički model; diskretni LQR regulator; modelsko prediktivno upravljanje; Simulink; Matlab
• Keywords (english): Furuta pendulum; Lagrange’s equations; nonlinear mathematical model; discrete LQR regulator; model predictive control; Simulink; Matlab
• Language: croatian
• URN:NBN: urn:nbn:hr:168:941442
• 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 09:25:23