Angular position control of a ship rudder blade

Regulacija kuta zakreta lista kormila broda završni je rad napravljen u svrhu prezentacije kormilo stroja broda (pogona za kormilarenje većim brodovima). Rad se sastoji od projektiranja, izrade te programiranja stolne makete koja posjeduje pneumatski pogon za razliku od realnih sustava koji su zbog mnogo većih sila pogonjeni hidraulički. Sustav se sastoji od: drvene krme broda, pneumatskog cilindra, dva elektropneumatska ventila, relejne pločice, mikrokontrolera, dva kutna enkodera, stabilizatora napona te pretvarača napona. Sustav funkcionira tako da automatski prati ţeljeni kut otklona kormila koji zadaje korisnik. Posebna paţnja posvećena je regulaciji sustava koja je ostvarena implementacijom P regulatora u mikrokontroleru. P regulator po izračunatoj pogrešci koju računa pomoću signala sa senzora odlučuje koji elektropneumatski ventil otvoriti i time pomaknuti cilindar. Ovakav sustav idealan je za prezentaciju i edukaciju studenata iz područja elektropneumatike.Angular position control of a ship rudder blade is a final project made for purpose of presenting the rudder system of a ship (the system that controls the course of the ship). The final project consists of designing, constucting and programming of a ship model that has a pneumatic drive as opposed to real systems that are hydraulically driven due to much higher forces. The system consists of: wooden ship model, pneumatic cylinder, two electropneumatic valves, relay module, microcontroller, two angular encoders, voltage stabilizer and voltage converter. The system functions by automatically following the desired deflection angle set by the user. Special attention was paid to the control of the system, which was realized by the implementation of the P controller in the microcontroller. The P controller calculates the control error by the signals from the sensors and makes decision which electropneumatic valve to open and thereby move the cylinder. This system is ideal for presenting electropneumatics to students and for their education in said field