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Multifunction data acquisition, measurement and control device
Trávníček, Ivo ; Vlachý, David (referee) ; Grepl, Robert (advisor)
The thesis deals with and tests the Multifunction data acquisition, measurement and control device. The unit is based on the microcontroller ATmega, which was programmed in the language C. The unit contains functions for the measurement of physical quantify, filtering record, regulation of the dynamic systems and communication with PC. Configuration of the unit is real-time in special software created in the language Matlab or by a terminal. The purpose of the unit is controlling a DC motor by the PID regulator, long-term measurement of temperature or measurement of acceleration by an accelerometer.
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Study of MATLAB PDE toolbox usability in mechanics
Kováč, Patrik ; Vosynek, Petr (referee) ; Grepl, Robert (advisor)
This thesis deals with the practical usability of the PDE Toolbox in the MATLAB. It brieflydescribes the mathematical fundamentals of solution. The thesis presents the possibilitiesof PDE Toolbox in the creation of the model, geometry, boundary conditions, mesh and displayof results. The PDE Toolbox results from selected tasks from static, modal and transientmechanics and thermomechanics are compared with the analytical solution or with the FEMsimulation from the ANSYS. The main part deals with the evaluation and generalizationof results.
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Adaptive Control of Electromechanical Actuators using Multiple Model Adaptive Feed forward Compensator
Sova, Václav ; Křivánek,, Václav (referee) ; Krejsa, Jiří (referee) ; Grepl, Robert (advisor)
This thesis deals with the derivation of novel adaptive feed forward compensator, which will be used for the control of the electromechanical actuators used in automotive industry. The electromechnical actuators are an electronic throttle valve and an EGR valve. The introduced adaptive compensator is derived from an existing multiple model feedback control method. This work describes the derivation of this method and simulation and experimental verification. In addition, the most well known digital filter differentiators are presented and summarized in this paper because the feed forward compensator needs them for its operation. From these filters, one specific is chosen, whoose coefficients for the specific setting leads to integer multiplication and an integer implementation of the filter. This will be used to implement this filter to the FPGA and then we prove, that this implementation saves a lot of FPGA resources compared to filters implemented using fixed or floating-point arithmetic.
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Evaluation of stereovision algorithms in Computer Vision System for MATLAB
Lauko, Matúš ; Růžička, Michal (referee) ; Grepl, Robert (advisor)
This bachelor thesis is describing limits and features of stereovision application for space orientation using MATLAB tools. The intended use is for a robot. In practical part there is used Simulink 3D Animation Toolbox for scene creation. Frist part is a background research of computer vision, stereovision and MATLAB toolboxes Computer Vision System Toolbox and Simulink 3D Animation Toolbox. In the next part there is a description of model which is used for testing computational algorithm. Subjects to test are speed and accuracy taking into account other factors.
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Implementation of selected control algorithms for FPGA
Bradáč, Martin ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
A real-time computer cRIO-9073 supplied by National Instruments, together with the software tool LabVIEW is a versatile system used in many fields, for both research and practical tasks. This thesis deals with the possibilities of the system. It is aimed primarily at performance testing, identifying potential limitations and showing its practical use. The whole system has undergone testing through the use of programs covering the wide spectrum of utilisation. cRIO also allows the use of other software tools in its programming. This thesis explores the options of using Matlab/Simulink from MathWorks and the generation of VHDL code using a product of Xilinx. The aim is to compare the demands on the resources consumed, by the Field-programmable gate array (FPGA) in cRIO as well as the CPU load running the Real-time process.
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Tool for import and animation of vector graphics in MATLAB
Šustáček, Daniel ; Appel, Martin (referee) ; Grepl, Robert (advisor)
This thesis deals with the design of a tool for the import and animation of vector graphics SVG in MATLAB. The first part of the thesis deals with the means of importing the SVG format into the MATLAB environment and the subsequent principles of rendering individual SVG elements. The second part explains the design of a tool for animating the movement of mechanisms in the plane defined in the SVG format.
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Control of laboratory model of unstable balancing vehicle
Horák, Petr ; Zavadinka, Peter (referee) ; Grepl, Robert (advisor)
This diploma thesis is a part of HUMMER project. The project deals with three student’s development of two-wheeled unstable vehicle Segway type and its diminished laboratory model. This thesis deals with reviviscence of laboratory model, design of its control and realization of its actuating (a more detailed breakdown of tasks in the project is shown below). At the beginning of the work is presented reviewed study. The first part of study deals with similar models in the world, their construction and way of control. In the next part of reviewed study follows description of a real model and derivation of model basic equations, in the last part of search is given principle of operation of some used sensors. The next step was the selection and design of required electronics. In this capture are described all designed electronic modules and used sensors. There are also given parameters of used batteries and motors. The next task was the estimation of system parameters. The estimation was made by sections, in the capture is in detail described way of measuring data and structuring of estimation model. The penultimate step was design of PID and LQR controller using I/O card MF 624 and their comparing. Following thing was choice of better regulator and its implementation to the microprocessor. The last step was the realization of actuating driving of model by joystick and supreme PC.
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DESIGN OF METHODS AND TOOLS ACCELERATING THE SOFTWARE DESIGN FOR EMBEDDED PROCESSORS TARGETED FOR MECHATRONICS APPLICATIONS
Lamberský, Vojtěch ; Takács, Gergely (referee) ; Věchet, Stanislav (referee) ; Grepl, Robert (advisor)
The main focus of this dissertation thesis is on methods and tools which can increase the speed of software development process for embedded processors used in mechatronics applications. The first part of this work introduces software and hardware tools suitable for a rapid development and prototyping of new applications used today. This work focuses on two main topics from the mentioned application field. The first topic is a development of tools for an automatic code generation from the Simulink environment for an embedded processor. The second topic is a development of tools enabling execution time prediction based on a Simulink model. Next chapter of this work describes various aspects and properties of the Cerebot blockset, which is a toolset for a fully automatic code generation from a Simulink environment for an embedded processor. Following chapter describes various methods that are suitable for predicting the execution time on an embedded processor based on a Simulink model. Main contribution of this work presents the created support for a fully automatic code generation from a Simulink software for the MX7 cK hardware, which enables a code generation supporting also a complex peripheral (a graphic display unit). The next important contribution of this work presents the developed method for an automatic prediction of the software execution time based on a Simulink model.
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