dc.contributor.author |
Τσιρώνης, Ορέστης
|
el |
dc.contributor.author |
Tsironis, Orestis
|
en |
dc.date.accessioned |
2017-05-04T08:38:49Z |
|
dc.date.available |
2017-05-04T08:38:49Z |
|
dc.date.issued |
2017-05-04 |
|
dc.identifier.uri |
https://dspace.lib.ntua.gr/xmlui/handle/123456789/44843 |
|
dc.identifier.uri |
http://dx.doi.org/10.26240/heal.ntua.13188 |
|
dc.description |
Εθνικό Μετσόβιο Πολυτεχνείο--Μεταπτυχιακή Εργασία. Διεπιστημονικό-Διατμηματικό Πρόγραμμα Μεταπτυχιακών Σπουδών (Δ.Π.Μ.Σ.) “Συστήματα Αυτοματισμού” |
el |
dc.rights |
Default License |
|
dc.subject |
Γερανογέφυρες |
el |
dc.subject |
Αυτόματος έλεγχος |
el |
dc.subject |
Cranes bridge |
en |
dc.subject |
Automatic control |
en |
dc.title |
Ανάλυση και έλεγχος γερανογέφυρας με χρήση PID ελεγκτών |
el |
heal.type |
bachelorThesis |
|
heal.classification |
ΜΗΧΑΝΙΚΗ ΑΥΤΟΜΑΤΟΥ ΕΛΕΓΧΟΥ |
el |
heal.classificationURI |
http://data.seab.gr/concepts/d123bc260a51b3cb6497ce2d4ddc1effa94870c2 |
|
heal.language |
el |
|
heal.access |
free |
|
heal.recordProvider |
ntua |
el |
heal.publicationDate |
2016-10-15 |
|
heal.abstract |
Συμπεράσματα: Τα αποτελέσματα της μελέτης έδειξαν ότι είναι δυνατόν να προκληθούν διαταραχές στα αιμοδυναμικά μεγέθη σε περιπτώσεις παθολογικής ελίκωσης της ομφαλικής αρτηρίας. Εκτός από τον δείκτη ομφαλικής ελίκωσης, ο οποίος είθισται να λαμβάνεται υπ’ όψιν στις ιατρικές μελέτες, προκύπτει από τα αποτελέσματά μας ότι και άλλα γεωμετρικά χαρακτηριστικά, όπως ο συνολικός αριθμός των σπειρών, η διάμετρος της σπείρας και ο λόγος της με το βήμα της σπείρας, είναι δυνατόν να επηρεάσουν την αιμοδυναμική της εμβρυομητρικής κυκλοφορίας. |
el |
heal.abstract |
The aim of this study is to understand the process of creating a d
rive to control the moves
of a crane
in 2D;
trolley
position, rope length
and rope
–
load swing angle.
A
lumped mass
mathematical model
was consider
ed
. The
resulting system of equations is highly non
–
linear and coupled. In order to design the controllers,
first
the
Lyapunov linearization
method
is
used to linearize the system
,
and then the
Laplace transformation
to estimate
the transfer functions.
Having estimated the transfer function
s
the
Coefficient Diagram Method (CDM)
is
utilized for the selection of the controllers’ parameters.
PID, PD and PI controllers are
assumed for
trolley position, load swing
–
angle and rope length, respectively.
The CDM
resulted in a closed loop system which exhibits
oscillatory response
of the trolley motion
and swing angle.
The magnitude of oscillations is reducing in time but with a very small
rate; responses are not in the ±5% of their reference value even after 100 secs.
On the
other hand, t
he rope length response seems to follow close its reference motion, with zero
overshoot and short settle time.
The differences of the system response and
the
linearized system
response predicted
are
mainly due to the fact that the
system is highly
non
–
linear and strong coupled, where CDM uses a
linearized de
-
coupled transfer
functions
estimates of the system
.
In order to fine tune the parameters of the Controllers the system is simulated for
different values of their parameters using the initial values and results of the CDM
analysis. Fine
-
tuned controllers
resulted in a
fast
closed loop system with
small
overs
hoot
(
less than 5%
)
for trolley and rope moti
on and
absolute swing angle less than 0.10 rad.
Simulations showed
robustness
of the system
to variations of the mass load
and
reject
ion
of
a step input
disturbance
. |
en |
heal.advisorName |
Σολδάτος, Αργύρης |
el |
heal.committeeMemberName |
Σπιτάς, Βασίλειος |
el |
heal.committeeMemberName |
Κουλοχέρης, Δημήτριος |
el |
heal.academicPublisher |
Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών |
el |
heal.academicPublisherID |
ntua |
|
heal.numberOfPages |
74 σ. |
el |
heal.fullTextAvailability |
true |
|