Modellering, identifiering och reglering av skannern i ett laserbatymetrisystem
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.