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|a Tovarović, Tea
|9 35776
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|a Analiza kontinuiranih i diskretnih upravljačkih algoritama za plovila :
|b završni rad /
|c Tea Tovarović ; [mentor Nikola Mišković].
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|a Analysis of continuous and discrete control algorithms for vessels
|i Naslov na engleskom:
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|a Zagreb,
|b T. Tovarović,
|c 2014.
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| 300 |
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|a 43 str. ;
|c 30 cm +
|e CD-ROM
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|b preddiplomski studij
|c Fakultet elektrotehnike i računarstva u Zagrebu
|g smjer: Automatika, šifra smjera: 33, datum predaje: 2014-06-13, datum završetka: 2014-07-14
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|a Sažetak na hrvatskom: U završnom radu bilo je potrebno u Matlabu realizirati upravljačke algoritme niže i više razine koji se koriste za upravljanje plovnim objektima. Od regulatora niže razine bilo je potrebno realizirati regulatore brzina sljedećih tipova: PI, I-P te PI regulator s unaprijednim djelovanjem. Od regulatora više razine, bilo je potrebno realizirati regulator kursa, regulator za dinamičko pozicioniranje te regulator za praćenje linije. Za svaki od navedenih regulatora, bilo potrebno je ostvariti kontinuirani i diskretni oblik, te prijenosne funkcije zatvorenog kruga upravljanja. Parametri regulatora podešeni su prema metodi postavljanja polova koristeći binomnu, Butterworthovu odnosno Besselovu karakterističnu jednadžbu zatvorenog kruga. Dodatno je bilo potrebno analizirati ponašanje zatvorenog kruga upravljanja uz ograničenu upravljačku veličinu, te realizirati anti-windup mehanizam. Ostvaren je klasični oblik anti-windupa sa povratnim integriranjem te metoda sa uvjetnom integracijom.
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|a Sažetak na engleskom: In this thesis the goal was to realize the low-level and high-level control algorithms in MATLAB, which are used to control vessels. Out of the low-level control algorithms, it was necessary to implement speed controllers of the following types: PI, I-P and PI controller with feedforward action. Out of the high-level control algorithms, it was necessary to realize course controller, dynamic positioning controller and line following controller. It was required to implement continuous and discrete form of each of these controllers, and to determine the closed loop transfer function. The controller parameters are tuned according to the pole placement method using binomial, Butterworth and Bessel desired characteristic closed-loop equation. In addition, it was necessary to analyze the behavior of closed-loop control system with saturated control action, and implement anti-windup mechanism. Classical back calculation and tracking integration and conditional integration method are realized.
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|a kaskadno upravljanje
|a PI, I-P, PIFF regulator
|a postavljanje polova
|a regulator kursa
|a praćenje linije
|a dinamičko pozicioniranje
|a namatanje integratora
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|a Cascade control
|a PI, I-P, PIFF controller
|a Pole Placement
|a course controller
|a line following
|a dynamic positioning
|a integrator windup
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|a Mišković, Nikola
|4 ths
|9 32316
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|c Z
|2 udc
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|c 45035
|d 45035
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