20.500.12556/DKUM-67220 Razvoj naprednega adaptivnega regulatorja za mehatronske sisteme Development of advanced adaptive controller for mechatronic systems V magistrski nalogi predstavljamo, opisujemo ter razlagamo princip delovanja nelinearnega naprednega adaptivnega hitrostnega regulatorja, ki smo ga izdelali za potrebe napredne regulacije na enoosnem robotu. Tega krmilimo z algoritmom evolucijskih strategij, ki je sposoben dinamičnega iskanja rešitev, kjer se vrednost funkcije uspešnosti spreminja s časom. Pri tem smo vrednost funkcije uspešnosti napovedovali s pomočjo nevronske mreže (angl. Artificial Neural Network, krajše ANN). Predlagano metodo smo testirali na realnem laboratorijskem robotskem sistemu z eno stopnjo prostosti (angl. one degree of freedom, krajše 1 D.O.F.) in ugotovili, da je primeren za regulacijo v realnem času (odzivni čas 1-5 ms). Izvedena je bila primerjava z linearnim PI-hitrostnim regulatorjem, rezultati pa so pokazali uspešnejše delovanje nelinearnega hitrostnega regulatorja. In this M.Sc. Thesis, a non-linear advanced adaptive controller is proposed and described, which was used for the purpose of velocity control on a single degree of freedom robotic mechanism. The controller is based on the algorithm of dynamic evolution strategy, which is capable of searching the global optimum dynamically, i.e. when the fitness function is changing through time. The fitness function calculation has been done by implementing an artificial neural network, which was simulating the behavior of the real system. We tested the proposed algorithm on the robotic mechanism and compared the results to the PI-velocity controller. We concluded, that the proposed approach of identification and optimization is appropriate for online real-time control (response time 1-5 ms). Furthermore, non-linear controller outperformed the linear controller, according to conducted tests. online-regulacija identifikacija evalvacija optimizacija realni čas online control identification evaluation optimization real-time true true false [D. Fister] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2017-08-07 21:15:52 2017-09-01 12:15:25 2022-08-01 13:41:50 2019-07-11 16:12:57 2017 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.52(043.2) 21180438 URN:SI:UM:DK:PBRBBOH8 MAG_Fister_Dusan_2017.pdf MAG_Fister_Dusan_2017.pdf 1 CFCBF3C573DEEFE52CD2E7E860DC2FB1 71755574b08a949a7ed7e5a24903180fc1f375a7d88d9c178c2225595e1dcc14 9d2c7d1c-7c0e-11eb-bb7a-00155d0001ca 20.500.12556/dkum/71c9d447-f6b9-40e0-afb7-6434acbd3176 https://dk.um.si/Dokument.php?lang=slv&id=116756 Fakulteta za strojništvo 0 0 0