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Keywords: regulacijski sistemi z zaprto zanko, avtomatska regulacija, zaprtozančna regulacija, učbeniki, vaje
Published in DKUM: 13.07.2023; Views: 380; Downloads: 42
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Abstract: V diplomskem delu smo se ukvarjali z zahtevno izdelavo risalnega robota CNC in natančnostjo premika koračnega motorja v smer X in Y. Poglobili smo se v pravilne velikosti korakov koračnega motorja. Preverili smo možnost, ali je risalni robot, ki je izdelan iz poceni ali odpadnih materialov, lahko konkurenčen drugim podobnim napravam. Opisali smo vse pripadajoče dele in postopek celotne izgradnje risalnega robota CNC ter celoten postopek nastavitev in kako smo umerili velikost koraka. V zaključku so povzeti doseženi cilji.
Keywords: CNC, koračni motor, Arduino Uno, regulator A4988
Published in DKUM: 29.08.2019; Views: 1626; Downloads: 161
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Abstract: Disertacija predstavlja novo metodo optimalnega načrtovanja dinamike nelinearnega sistema na osnovi nelinearnega robustnega adaptivnega sestopnega regulatorja (backstepping regulatorja). Metoda temelji na obstoječi sestopni metodi vodenja (backstepping control) z uvedbo vrednotenja dinamičnega obnašanja zaprto-zančnega sistema. Takšno vrednotenje temelji na povezavi med prostimi parametri sestopnega regulatorja in parametri referenčne linearne prenosne funkcije. Z vrednotenjem dinamičnega obnašanja v kombinaciji s pristopi linearne teorije, sta predstavljena dva pristopa načrtovanja prostih parametrov regulatorja. Prvi pristop zajema načrtovanje prostih parametrov sestopnega regulatorja na osnovi želenih položajev zaprto-zančnih polov in drugi pristop na osnovi želenega dušenja ter lastne frekvence sistema. V primeru parametričnih odstopanj in motenj nelinearnega sistema je predlagana uporaba adaptivnega sestopnega regulatorja. Adaptacija takšnega regulatorja ohranja navzven linearen značaj zaprto-zančnega sistema. Parametrična odstopanja nelinearnega sistema se odražajo tudi v odstopanju parametrov linearne zaprto-zančne prenosne funkcije. V ta namen predlagana metoda vključuje postopke vrednotenja robustnosti iz linearne robustne teorije. Na osnovi kriterijev robustne stabilnosti in robustnega učinka je definirana cenilna funkcija, pri čemer je celoten problem sinteze prostih parametrov regulatorja predstavljen kot optimizacijski problem. Takšen pristop omogoča načrtovanje optimalnega dinamičnega obnašanja nelinearnega sistema.
Keywords: sestopni regulator, načrtovanje dinamike, adaptivno vodenje, robustno vodenje, optimalno vodenje, Ljapunova stabilnost
Published in DKUM: 12.07.2017; Views: 1635; Downloads: 209
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Abstract: This paper describes the use of a multi-objective genetic algorithm for robust motion controller design. Motion controller structure is based on a disturbance observer in an RIC framework. The RIC approach is presented in the form with internal and external feedback loops, in which an internal disturbance rejection controller and an external performance controller must be synthesised. This paper involves novel objectives for robustness and performance assessments for such an approach. Objective functions for the robustness property of RIC are based on simple even polynomials with non-negativity conditions. Regional pole placement method is presented with the aims of controllers% structures simplification and their additional arbitrary selection. Regional pole placement involves arbitrary selection of central polynomials for both loops, with additional admissible region of the optimized pole location. Polynomial deviation between selected and optimized polynomials is measured with derived performance objective functions. A multi-objective function is composed of different unrelated criteria such as, robust stability, controllers' stability and time performance indexes of closed loops. The design of controllers and multi-objective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm - Differential evolution.
Keywords: disturbance observer, DOB, uncertainty systems, optimal robust control, multi-objective optimization, differential evolution
Published in DKUM: 15.06.2017; Views: 1630; Downloads: 364
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Abstract: This paper presents the synthesis of an optimal robust controller with the use of pole placement technique. The presented method includes solving a polynomial equation on the basis of the chosen fixed characteristic polynomial and introduced parametric solutions with a known parametric structure of the controller. Robustness criteria in an unstructured uncertainty description with metrics of norm ℋ∞ are for a more reliable and effective formulation of objective functions for optimization presented in the form of a spectral polynomial with positivity conditions. The method enables robust low-order controller design by using plant simplification with partial-fraction decomposition, where the simplification remainder is added to the performance weight. The controller structure is assembled of well-known parts such as disturbance rejection, and reference tracking. The approach also allows the possibility of multiobjective optimization of robust criteria, application of mixed sensitivity problem, and other closed-loop limitation criteria, where the common criteria function can be composed from different unrelated criteria. Optimization and controller design are performed with iterative evolution algorithm.
Keywords: optimal robust controller, optimization, algorithm
Published in DKUM: 15.06.2017; Views: 1101; Downloads: 375
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