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master's thesis
Vođenje plovnog objekta po putanji
2021. urn:nbn:hr:190:033393
Cvetković, Filip
University of Rijeka
Faculty of Engineering
Department of Naval Architecture and Ocean Engineering
Section of the Ship Dynamics

Cite this document

Cvetković, F. (2021). Vođenje plovnog objekta po putanji (Master's thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:033393

Cvetković, Filip. "Vođenje plovnog objekta po putanji." Master's thesis, University of Rijeka, Faculty of Engineering, 2021. https://urn.nsk.hr/urn:nbn:hr:190:033393

Cvetković, Filip. "Vođenje plovnog objekta po putanji." Master's thesis, University of Rijeka, Faculty of Engineering, 2021. https://urn.nsk.hr/urn:nbn:hr:190:033393

Cvetković, F. (2021). 'Vođenje plovnog objekta po putanji', Master's thesis, University of Rijeka, Faculty of Engineering, accessed 16 November 2024, https://urn.nsk.hr/urn:nbn:hr:190:033393

Cvetković F. Vođenje plovnog objekta po putanji [Master's thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2021 [cited 2024 November 16] Available at: https://urn.nsk.hr/urn:nbn:hr:190:033393

F. Cvetković, "Vođenje plovnog objekta po putanji", Master's thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:190:033393

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Metadata
TitleVođenje plovnog objekta po putanji
Title (english)Path following for marine vessel
AuthorFilip Cvetković
MentorMarko Valčić (mentor)
Committee memberKristian Lenić (predsjednik povjerenstva)
Committee memberTomislav Mrakovčić (član povjerenstva)
Committee memberMarko Valčić (član povjerenstva)
Committee memberSandro Doboviček (član povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
(Department of Naval Architecture and Ocean Engineering)
(Section of the Ship Dynamics)
Rijeka
Defense date and country2021-07-09, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom diplomskom radu opisane i analizirane su metode i algoritmi za vođenje plovnog objekta po putanji; s posebnim naglaskom na plovne objekte odobalne industrije. Opisani su kinematika i dinamika plovnog objekta. Navedeni su načini praćenja putanje te su opisana dva načina upravljanja, PID regulacija i modelsko prediktivno upravljanje (MPC). Programski alat MATLAB i Simulink su poslužili za izradu i provedbu simulacija, preko kojih se pratilo ponašanje plovnog objekta pri praćenju putanje. Napravljene su komparativne analize dvaju načina praćenja putanje, ograđeno vođenje i vođenje s predviđanjem. Uspoređeno je ponašanje plovnog objekta pri PID regulaciji i modelskom prediktivnom upravljanju.
Abstract (english)
Subject of this thesis is description and analysis of methods and algorithms for guidance of marine craft along the path, with emphasis on the offshore industry’s crafts. The marine craft’s kinematics and dynamics were described. Path following methods are listed as well as two controllers are described, PID control and model predictive control (MPC). The software tools MATLAB and Simulink were used for creation of simulations, through which the behaviour of marine craft was monitored while following path. Comparative analysis of two path following methods, enclosure based steering and lookahead based steering, was made. Also, the comparison of PID control and model predictive control was made.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:033393
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 on2021-10-11 10:59:13