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master's thesis
Regulacija pomaka umjetnog pneumatskog mišića s mjehom
2021. urn:nbn:hr:190:052533
Pincin, Samuel
University of Rijeka
Faculty of Engineering
Department of Mechanical Engineering Design
Section of Power Transmission and Industrial Transport Equipment and Devices

Cite this document

Pincin, S. (2021). Regulacija pomaka umjetnog pneumatskog mišića s mjehom (Master's thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:052533

Pincin, Samuel. "Regulacija pomaka umjetnog pneumatskog mišića s mjehom." Master's thesis, University of Rijeka, Faculty of Engineering, 2021. https://urn.nsk.hr/urn:nbn:hr:190:052533

Pincin, Samuel. "Regulacija pomaka umjetnog pneumatskog mišića s mjehom." Master's thesis, University of Rijeka, Faculty of Engineering, 2021. https://urn.nsk.hr/urn:nbn:hr:190:052533

Pincin, S. (2021). 'Regulacija pomaka umjetnog pneumatskog mišića s mjehom', Master's thesis, University of Rijeka, Faculty of Engineering, accessed 12 April 2024, https://urn.nsk.hr/urn:nbn:hr:190:052533

Pincin S. Regulacija pomaka umjetnog pneumatskog mišića s mjehom [Master's thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2021 [cited 2024 April 12] Available at: https://urn.nsk.hr/urn:nbn:hr:190:052533

S. Pincin, "Regulacija pomaka umjetnog pneumatskog mišića s mjehom", Master's thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:190:052533

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Metadata
TitleRegulacija pomaka umjetnog pneumatskog mišića s mjehom
Title (english)Position control of a bellows artificial pneumatic muscle
AuthorSamuel Pincin
MentorGoran Gregov (mentor)
MentorErvin Kamenar (komentor)
Committee memberKristian Lenić (predsjednik povjerenstva)
Committee memberSaša Zelenika (član povjerenstva)
Committee memberTin Matulja (član povjerenstva)
Committee memberGoran Gregov (član povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
(Department of Mechanical Engineering Design)
(Section of Power Transmission and Industrial Transport Equipment and Devices)
Rijeka
Defense date and country2021-09-24, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom je radu obrađena tematika regulacije pomaka umjetnog pneumatskog mišića s mijehom. Analizirana su svojstva umjetnih pneumatskih mišića s mijehom, te su opisani razvoj i primjena u industriji, robotici i rehabilitaciji. Opisane su metode optimizacije regulacijske tehnike za pneumatske mišiće. Analizirani su teoretski temelji PID regulatora i LQR (linearni kvadratni regulator). Izgrađen je matematički model umjetnog pneumatskog mišića na temelju identifikacije sustava. Dobiveni matematički model korišten je kao baza za izgradnju linearnog kvadratnog regulatora. Provedena su detaljna laboratorijska ispitivanja odziva za obje izvedbe pneumatskog mišića. Rezultati odziva na odskočnu funkciju PID i LQR regulacije su grafički prikazani i analizirane su njihove karakteristike poput vremenske konstante i vremena porasta.
Abstract (english)
This paper describes position control of a bellows pneumatic artificial muscle. The properties of bellows type pneumatic artificial muscles are analysed, the development and possible applications in industry, robotics and physical rehabilitation are described. Optimisation methods for control algorithms applied to artificial muscle control are described. The theoretical basics of PID and LQR controllers are analysed. A mathematical model of a pneumatic artificial muscle is developed by using system identification technique. The resulting mathematical model is used as a basis for developing linear quadratic regulator. Experimental testing of two pneumatic muscles is conducted. The results of the response to a step change using PID and LQR methods are compared and response characteristics such as rise time and time constant are analysed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:052533
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to students and staff of home institution
Terms of useLicence In copyright icon
Created on2021-10-15 10:36:42