liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Modellering, identifiering och reglering av skannern i ett laserbatymetrisystem
Linköping University, Department of Electrical Engineering.
2005 (Swedish)Independent thesis Basic level (professional degree)Student thesisAlternative title
Modeling, identification and control of the scanner in a system for laser bathymetry (English)
Abstract [sv]

The purpose with this masters thesis was to model the scanner in a system for laser bathymetry. The model was then used to develop a controller for the scanner so a good search pattern was achieved.

Two different types of models have been tested, a physical model and a Black Box model of Box Jenkins type. The physical model has been derived from Lagranges equations. Identification experiments have been used to compute the Black Box model and to find the unknown parameters in the physical model.

Three different controllers have been tested, a PID controller, a model predictive controller and a controller with feedforward. The controller with feedforward gave the best result. By softening the reference signal and using feedforward a good search pattern was achieved.

Place, publisher, year, edition, pages
Institutionen för systemteknik , 2005.
Keyword [en]
Reglerteknik, modeling, system identification, control, robotics, PID, MPC, feed forward
Keyword [sv]
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-2823ISRN: LITH-ISY-EX--05/3612--SEOAI: diva2:20166
Available from: 2005-03-14 Created: 2005-03-14

Open Access in DiVA

fulltext(5732 kB)570 downloads
File information
File name FULLTEXT01.pdfFile size 5732 kBChecksum MD5
Type fulltextMimetype application/pdf

By organisation
Department of Electrical Engineering
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 570 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 1404 hits
ReferencesLink to record
Permanent link

Direct link