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Control of sliding window in passanger car
Kebis, Tobiáš ; Štetina, Jakub (referee) ; Sova, Václav (advisor)
The purpose of this bachelor’s thesis is designing the electronics and control program for opening car window. Real model of car door was used for realisation, where were implemented control and power electronic. 12V industry power supply was used to power the electronics. For controlling the motor, H-bridge from Peter Horák’s thesis was used. The main problem discussed in this work is design of control electronics, based on microcontroller dsPIC33fj128mc804 and its programming in Simulink environment. Program had to meet certain requirements, and after the testing and optimising, the whole model was completed and got ready for presenting and teaching purposes.
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Optimization of four-bar mechanism geometry for the predescribed trajectory
Korytár, Lukáš ; Sova, Václav (referee) ; Grepl, Robert (advisor)
This thesis deals with the optimization of arm lengths of four-bar RRRR mechanism using matrix kinematics. It compares and describes the methods, which are available in MATLAB software environment for this purpose. Consequently, an optimization algorithm using fmincon function is designed for which Monte-Carlo algorithm performs the first estimates. Elementary requirements for the proposed algorithm are devised in order to accurately duplicate the predescribed trajectory.
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FPGA application for control and modelling of BLDC motor
Sova, Václav ; Toman, Jiří (referee) ; Grepl, Robert (advisor)
Thesis deals with the challenges in the field of BLDC motors control with the utilization of Field Programmable Gate Arrays (FPGA). Using the modular dSPACE hardware with the FPGA board, these issues are solved: sensored and sensorless control, real-time simulation of BLDC motor and control of BLDC motor in degraded mode. FPGA design is made using the System Generator for DSP from Xilinx. The side effect of work is to show that with the expansion of high-level tools for FPGA design, the implementation of algorithms for FPGA is relatively quick and efficient and does not require years of experience and big knowledge of field programmable gate arrays. The implementation of algorithms on FPGA instead of processors brings many advantages, in the first place the high speed processing and low latency.
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Design and implementation of educational mobile robot
Suchý, Jakub ; Sova, Václav (referee) ; Bastl, Michal (advisor)
This thesis deals with the design and realization of a wheeled robotic chassis which will serve as an extension for the EduKit learning platform. It contains a brief introduction to the problematic of expanding this platform, the description of the selection of suitable components, the design of mechanical parts and printed circuit boards, the assembly of the chassis and the verification of some of its functions by a demonstration task.
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Design and implementation of encoder unit
Kirchner, Tomáš ; Sova, Václav (referee) ; Spáčil, Tomáš (advisor)
The aim of the thesis is to implement an absolute magnetic encoder unit as a sensor measuring the angle of rotation of a DC engine on a ballbot, which is part of the BB-8 project at the mechatronic laboratory. It describes the principals and limitations of a magnetic encoder technology, also the design of printed circuit board for the sensor and the engine housing. Testing functionality of the encoder at Raspberry Pi was part of the work as well as creating SPI communication with a master microcontroller PIC. Furthermore an accuracy of the angle of rotation sensing was measured for different inaccuracy of a magnet position to the sensor.
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Implementation of kinematics algorithms for the four legged mobile robot
Králík, Jan ; Appel, Martin (referee) ; Sova, Václav (advisor)
The goal of the work is restore a quadruped walking spider-type robot named Jaromír. Part of the work is a body design that is then printed on a 3D printer. Another part is the design and creation of a new control board, which’ll include sensor equipment appropriate for robot operation. Subsequently, the thesis deals with the design of the tactile sensor’s and their fitting on the legs. The final part is implementation of the algorithm for robot control. The goal was to put the model to a state where it could be used for learning and presentations.
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Control of Linear Inverted Pendulum Exhibition Model
Vávra, Patrik ; Sova, Václav (referee) ; Brablc, Martin (advisor)
The main aim of this bachelor thesis is to create robust linear inverted pendulum control. After system identification comes the creation of regulators from which the most suitable is chosen for the final control of the pendulum. Another point of thesis is to develop a swing-up controller that takes care of swinging the pendulum into an unstable position and swing-down controller to stabilize the pendulum as quickly as possible in a stable pendulum position. The following sections of the thesis include the design of the control structure, safety measures and evaluation of the performed testing.
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Sensorless control of BLDC motor
Hrbáč, Zbyněk ; Grepl, Robert (referee) ; Sova, Václav (advisor)
This thesis is focused on the sensorless control of BLDC motor using the Extended Kalman filter. In the first section, process of EKF implementation for estimating rotor speed and electrical angle is described. For this estimation, EKF uses non-linear BLDC motor model and some measurement containing random noise. Second part deals with designing methodology to measure and estimate the quality of BLDC motor sensorless control. Best results were achieved with total current entering power electronics ripple analyzation. In the last section, several BLDC sensorless control algorithms were evaluated.
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Extending the Laboratory Educational Kit PIC Edu Kit with a Set of Wireless Sensors
Hanuš, Tomáš ; Najman, Jan (referee) ; Sova, Václav (advisor)
This thesis describes the design and implementation of extension of laboratory training model PIC Edu Kit. It is about set of wireless sensors. These sonsors have to measure temperature and deformation. Mesure of temperature was realized by temperature resistive sensor Pt100 and deformation by resistive tenzometr. These wireless moduls comunication on protocol Wi-Fi. In this work is introduced propose of measuring dictucts for measure of temperautre and deformation. There is evidenced their realization, showed software for receiving dates on PC and programme for the microcontroler.
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