20.500.12556/DKUM-15901 VODENJE NELINEARNEGA MEHANIZMA Z METODAMI MEHKEGA RAČUNANJA CONTROL OF NONLINEAR MECHANISM BY USING SOFT COMPUTING CONTROL METHODS V diplomskem delu smo predstavili uporabo dveh mehkih metod računanja za vodenje nelinearnega mehanizma z eno prostostno stopnjo. Opisano je vodenje s pomočjo umetne nevronske mreže in mehke logike. Hkrati je bilo za primerjavo rezultatov obeh mehkih metod izvedeno vodenje s PD-regulatorjem. Sistemi vodenja so bili narejeni in simulirani v programskem paketu MATLAB/Simulink, sami algoritmi pa napisani v jeziku C. Izvajanje in testiranje algoritmov je potekalo na realnem mehanizmu s pomočjo DSP-2-modula. In this thesis, we present usage of two soft computing methods to control a nonlinear mechanism with one degree of freedom. Used soft computing methods are artificial neural networks and fuzzy logic. Obtained results are compared with those given by the PD controller. Control systems are made in the MATLAB/Simulink environment with algorithms written in C programming language. Implementation and testing was realised on a real mechanism by using DSP-2 module. položajno vodenje mehanizmov umetne nevronske mreže mehka logika nelinearne regulacije mehko računanje mehanizem z eno prostostno stopnjo metoda izračunanega navora position control of mechanisms artificial neural networks fuzzy logic nonlinear control soft computing mechanism with one degree of freedom computed torque method true true false [M. Oštir] Slovenski jezik Angleški jezik Diplomsko delo 2010-09-23 21:11:33 2010-10-11 13:27:06 2022-04-13 07:41:59 2023-12-19 03:37:53 2010 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.511.4:004.8(043.2) 14631958 URN:SI:UM:DK:NW3WRCB4 UNI_Ostir_Matjaz_2010.pdf UNI_Ostir_Matjaz_2010.pdf 1 4DA7EDD087CD11260BE410B6FE3B4923 01089c98ad2a840ca35751326e5aa857f30e85c4a881b718a8ea168364f4f767 83b934e5-7c04-11eb-bb7a-00155d0001ca 20.500.12556/dkum/b07a2d48-4ca4-4b78-a848-1339ac92b85c https://dk.um.si/Dokument.php?lang=slv&id=17732 Fakulteta za strojništvo 0 0 0