Worst-Case Optimal Scheduling and Real-Time Control of a Microgrid Offering Active Power Reserve

This work is focused on optimization problems within the predictive control framework for determining and engaging the flexibility of a microgrid in grid-microgrid energy exchange. The microgrid has a controllable battery storage and other components represented with a residual power flow. All major economic constituents of the grid-connected microgrid operation are considered: day-ahead, intra-day, peak power and battery degradation costs, as well as rewards and penalties for providing flexibility. The problems are posed as linear worst-case minimization programs in which all flexibility activation scenarios are taken into account. An analysis is conducted for various combinations of flexibility reservation and activation prices that can be bid to a grid entity. The technical and economic feasibility of the flexibility provision is confirmed by the use of an online model predictive controller that optimally meets the requirements of grid flexibility according to the declared reserve in the environment of online occurring disturbances and events

Staircase parameters determination based on laser rangefinder measurements

U ovom završnom radu je implementiran algoritam određivanja parametara stubišta koji kao ulaz koristi oblak točaka dobiven iz laserskog daljinomjera. Algoritam određuje širinu, nagib te visinu stuba, kao i postojanje ograde uz rub stuba. Algoritam radi s 3D i 2D laserima postavljenim na mobilnoj platformi. Algoritam je implementiran unutar ROS-a (Robotic Operating System) i testiran na stvarnoj mobilnoj platformi.In this bachelor`s thesis, an algorithm is implemented that determines staircase measurements using input point cloud recorded with a laser rangefinder. Algorithm determines width, slope and height of the staircase, as well as a staircase handle on the edge of stairs. Algorithm works with 3D and 2D lasers mounted on a mobile platform. Algorithm is implemented in ROS and tested on a real mobile platform

Identification and control of a plastic pre-forms heating process

U ovom diplomskom radu razni postupci identifikacije i algoritam upravljanja na temelju modela su izvedeni u sklopu upravljačke platforme postrojenja za termičku pripremu plastičnih pred-oblika - SIAPI-jeva S1LAB puhalica. Nerekurzivna otežana estimacija metodom najmanjih kvadrata i metode konveksne optimizacije su provedene na prikupljenim podacima. Konačno diferencijska aproksimacija parcijalnih diferencijalnih jednadžbi se koristi kako bi se odredile temperaturne promjene plastičnog pred-oblika kada je izvan peći. Algoritam eksplicitnog modelskog prediktivnog upravljanja je testiran na S1LAB stroju s dokumentiranim i komentiranim rezultatima.In this Master's thesis various identification procedures and a model-based control algorithm were implemented within the control platform for a thermal preparation of plastic preforms plant - SIAPI's S1LAB blow molding machine. A non-recursive weighted least-squares estimation and convex optimization methods were performed on the collected data. Finite difference approximation of partial differential equations is used to determine the preform's temperature changes when it is outside the ovens. Explicit model predictive control algorithm is tested on the S1LAB machine with the results documented and commented on

Staircase parameters determination based on laser rangefinder measurements

U ovom završnom radu je implementiran algoritam određivanja parametara stubišta koji kao ulaz koristi oblak točaka dobiven iz laserskog daljinomjera. Algoritam određuje širinu, nagib te visinu stuba, kao i postojanje ograde uz rub stuba. Algoritam radi s 3D i 2D laserima postavljenim na mobilnoj platformi. Algoritam je implementiran unutar ROS-a (Robotic Operating System) i testiran na stvarnoj mobilnoj platformi.In this bachelor`s thesis, an algorithm is implemented that determines staircase measurements using input point cloud recorded with a laser rangefinder. Algorithm determines width, slope and height of the staircase, as well as a staircase handle on the edge of stairs. Algorithm works with 3D and 2D lasers mounted on a mobile platform. Algorithm is implemented in ROS and tested on a real mobile platform

Identification and control of a plastic pre-forms heating process

U ovom diplomskom radu razni postupci identifikacije i algoritam upravljanja na temelju modela su izvedeni u sklopu upravljačke platforme postrojenja za termičku pripremu plastičnih pred-oblika - SIAPI-jeva S1LAB puhalica. Nerekurzivna otežana estimacija metodom najmanjih kvadrata i metode konveksne optimizacije su provedene na prikupljenim podacima. Konačno diferencijska aproksimacija parcijalnih diferencijalnih jednadžbi se koristi kako bi se odredile temperaturne promjene plastičnog pred-oblika kada je izvan peći. Algoritam eksplicitnog modelskog prediktivnog upravljanja je testiran na S1LAB stroju s dokumentiranim i komentiranim rezultatima.In this Master's thesis various identification procedures and a model-based control algorithm were implemented within the control platform for a thermal preparation of plastic preforms plant - SIAPI's S1LAB blow molding machine. A non-recursive weighted least-squares estimation and convex optimization methods were performed on the collected data. Finite difference approximation of partial differential equations is used to determine the preform's temperature changes when it is outside the ovens. Explicit model predictive control algorithm is tested on the S1LAB machine with the results documented and commented on

Staircase parameters determination based on laser rangefinder measurements

U ovom završnom radu je implementiran algoritam određivanja parametara stubišta koji kao ulaz koristi oblak točaka dobiven iz laserskog daljinomjera. Algoritam određuje širinu, nagib te visinu stuba, kao i postojanje ograde uz rub stuba. Algoritam radi s 3D i 2D laserima postavljenim na mobilnoj platformi. Algoritam je implementiran unutar ROS-a (Robotic Operating System) i testiran na stvarnoj mobilnoj platformi.In this bachelor`s thesis, an algorithm is implemented that determines staircase measurements using input point cloud recorded with a laser rangefinder. Algorithm determines width, slope and height of the staircase, as well as a staircase handle on the edge of stairs. Algorithm works with 3D and 2D lasers mounted on a mobile platform. Algorithm is implemented in ROS and tested on a real mobile platform

Identification and control of a plastic pre-forms heating process

U ovom diplomskom radu razni postupci identifikacije i algoritam upravljanja na temelju modela su izvedeni u sklopu upravljačke platforme postrojenja za termičku pripremu plastičnih pred-oblika - SIAPI-jeva S1LAB puhalica. Nerekurzivna otežana estimacija metodom najmanjih kvadrata i metode konveksne optimizacije su provedene na prikupljenim podacima. Konačno diferencijska aproksimacija parcijalnih diferencijalnih jednadžbi se koristi kako bi se odredile temperaturne promjene plastičnog pred-oblika kada je izvan peći. Algoritam eksplicitnog modelskog prediktivnog upravljanja je testiran na S1LAB stroju s dokumentiranim i komentiranim rezultatima.In this Master's thesis various identification procedures and a model-based control algorithm were implemented within the control platform for a thermal preparation of plastic preforms plant - SIAPI's S1LAB blow molding machine. A non-recursive weighted least-squares estimation and convex optimization methods were performed on the collected data. Finite difference approximation of partial differential equations is used to determine the preform's temperature changes when it is outside the ovens. Explicit model predictive control algorithm is tested on the S1LAB machine with the results documented and commented on