diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje Strojništvo
Dominik Pikš (Author), Rok Vrabič (Mentor), Samo Simončič (Co-mentor)

Abstract

Samodejno nastavljanje parametrov krmilnega sistema vsebuje algoritme in priporočila, s katerimi izbiramo velikost koeficientov krmiljenja, ki zagotovijo želen odziv sistema na motnjo ali spremembo ciljne vrednosti. V diplomski nalogi je obravnavana problematika iskanja optimalnih koeficientov ojačenja krmilnika PID. Izvedena sta preizkusa na dveh objektih krmiljenja. Pri obeh preizkusih smo sisteme krmilili s pomočjo platforme Arduino. Prvi preizkus smo izvajali na DC-motorju, drugega pa na mobilnem robotu. Meritve so potekale v zaprtozančnem sistemu, v katerem smo merili amplitudo nihanja vrednosti ciljne spremenljivke in njegovo frekvenco. Ugotovili smo, da v idealnih okoliščinah priporočila po Ziegler-Nicholsu veljajo in da poskrbijo za hitro umiritev sistema.

Keywords

diplomske naloge;krmiljenje PID;koeficienti;metoda Ziegler-Nichols;Arduino;mobilni roboti;umerjanje;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [D. Pikš]
UDC: 681.5(043.2)
COBISS: 16401435 Link will open in a new window
Views: 928
Downloads: 296
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Other data

Secondary language: English
Secondary title: Auto-tuning of the parameters of a PID controller of a mobile robot
Secondary abstract: The automatic setting of the control system parameters contains algorithms and recommendations to select the coefficient size, which ensures the desired system response to disturbance or setpoint change of the target value. We carried out two separate experiments. In both experiments, the systems were controlled using the Arduino platform. The first experiment was performed on a DC-motor and the other on a mobile robot. The measurements were made in a closed-loop system, where we measured the amplitude of the oscillation and its frequency. We have found that, in ideal circumstances, the Ziegler-Nichols recommendations apply and that they ensure a rapid response of the system.
Secondary keywords: PID;coefficients;Ziegler-Nichols;Arduino;mobile robots;calibration;
Type (COBISS): Bachelor thesis/paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. v Ljubljani, Fak. za strojništvo
Pages: XXI, 56 str.
ID: 10958831
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