zaključna naloga Razvojno raziskovalnega programa I. stopnje Strojništvo
Tomaž Cencič (Author), Rok Vrabič (Mentor)

Abstract

V zaključni nalogi je predstavljena karakterizacija robotskega sledilca črte za poletno šolo strojništva. Največja posebnost robota je uporaba superkondenzatorjev namesto baterije kot vira energije. Superkondenzatorji se v nekaterih pogledih kvalitativno razlikujejo od baterij in namen naloge je opredelitev vpliva teh razlik in optimizacija programa robota. Z meritvami napetosti je ocenjena hitrost samopraznjenja superkondenzatorjev in potek napetosti v odvisnosti časa voţnje in števila prevoţenih krogov. Program je optimiran z ročnim nastavljanjem koeficientov PID krmiljenja. Iz meritev je ugotovljeno, da je pri uporabi kondenzatorja kot vira enegija avtonomnega robota enostavno poskrbeti za obnašanje podobno bateriji. Kvantitativne razlike med superkondenzatorji in baterijami ostajajo. Superkondenzatorji imajo za vsaj velikostni red manjšo gostoto shranjene energije in za pribliţno velikostni red večjo gostoto moči polnjenja in praznjenja.

Keywords

diplomske naloge;mobilna robotika;sledilec črte;superkondenzatorji;PID krmiljenje;mikrokrmilnik;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [T. Cencič]
UDC: 007.52:621.319.4:004.451.25(043.2)
COBISS: 32263427 Link will open in a new window
Views: 328
Downloads: 107
Average score: 0 (0 votes)
Metadata: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Other data

Secondary language: English
Secondary title: Characterization and optimization of a line follower robot
Secondary abstract: This thesis presents the characterization of a line follower robot for the summer school of mechanical engineering. The robot uses supercapacitors instead of batteries as a power source. In some aspects, supercapacitors differ qualitatively from batteries and the purpose of this thesis is to assess those differences and optimize the robot's programming. The rate of self-discharge and the course of supercapacitors' voltage over time spent driving and distance driven are estimated with voltage measurements. The program is optimized with manual tuning of the PID control loop. The measurements indicate, that when using supercapacitors as an autonomous robot's powersource, it is simple to achieve behavior similar to that of a battery. Quantitative differences between supercapacitors and batteries remain. Supercapacitors have a by at least an order of magnitude lower stored energy density than batteries and a by about an order of magniture higher charge and discharge power density.
Secondary keywords: thesis;mobile robotics;line follower;supercapacitor;PID control;microcontroller;
Type (COBISS): Final paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. v Ljubljani, Fak. za strojništvo
Pages: XIV, 25 f.
ID: 12036905
Recommended works:
, zaključna naloga Razvojno raziskovalnega programa I. stopnje Strojništvo
, zaključna naloga Razvojno raziskovalnega programa I. stopnje Strojništvo
, no subtitle data available
, zaključna naloga Razvojno raziskovalnega programa I. stopnje Strojništvo
, no subtitle data available