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Integration of inertial navigation with global navigation satellite system
Štefanisko, Ivan ; Otava, Lukáš (referee) ; Blaha, Petr (advisor)
This paper deals with study of inertial navigation, global navigation satellite system, and their fusion into the one navigation solution. The first part of the work is to calculate the trajectory from accelerometers and gyroscopes measurements. Navigation equations calculate rotation with quaternions and remove gravity sensed by accelerometers. The equation’s output is in earth centred fixed navigation frame. Then, inertial navigation errors are discussed and focused to the bias correction. Theory about INS/GNSS inte- gration compares different integration architecture. The Kalman filter is used to obtain navigation solution for attitude, velocity and position with advantages of both systems.
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Electrical motors parameters identification using subspace based methods
Jenča, Pavol ; Veselý, Ivo (referee) ; Blaha, Petr (advisor)
The electrical motors parameters identification is solved in this master’s thesis using subspace based methods. Electrical motors are simulated in Matlab/Simulink interactive environment, specifically permanent magnet DC motor and permanent magnet synchronous motor. Identification is developed in Matlab interactive environment. Different types of subspace algorithms are used for the estimation of parameters. Results of subspace parameters estimation are compared with least squares parameters estimation. The thesis describes subspace method, types of subspace algorithms, used electrical motors, nonlinear approach of identification and comparation of parameters identification.
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Robust control of AC induction motor drives
Pohl, Lukáš ; Václavek, Pavel (referee) ; Blaha, Petr (advisor)
This bacherlor thesis deals with design of robust controller. In general it is about designing robust controller by using H-infinity control theory and input-output feedback linearization. Special structure of state-space equation governing the induction motor allows using linear parameter varying feedback controller scheduled with rotor speed for inner current loop. The proposed controller delivers high performance over the entire operating range of the induction motor and compares favorably with other published results
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Novel Methods of Control Systems Design with MATLAB/Simulink
Válek, Vít ; Kozovský, Matúš (referee) ; Blaha, Petr (advisor)
The content of this thesis is to introduce the tools of MATLAB/Simulink, which allow to generate the source code in C language. It will be demonstrated how to combine the source code written in C with Simulink model and MATLAB code. The code will be generated for the selected functions and compared with RTCESL library functions. In the last part of this thesis the principle of FOC will be briefly described. For a simplified loop of FOC, the code will be generated and then compared with handwritten code. For comparison, the microcontroller KV46F256 from NXP Semiconductors is used.
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Neural networks on AURIX platform
Smrčka, Michal ; Buchta, Luděk (referee) ; Blaha, Petr (advisor)
Part of this thesis discusses FNNs and how to develop them using MATLAB Deep Learning Toolbox and Keras API in Python. Subsequently, the thesis deals with the conversion of these networks into C/C++ using the Keras2c, AIfES, TFLM and NNoM libraries. This theoretical background was essential for the follow-up section, which focuses on the implementation and testing of the trained FNN on the AURIX TC397 3.3V Application Kit platform. This FNN is used to diagnose the PMS motor in order to detect inter turn faults. The configuration of the GPT12 and GETH peripherals of the AURIX TC397 microcontroller, which were used in the FNN testing application, is described in detail in this thesis. Using the Keras2c library, the possibility of running inference on 2 cores of the AURIX microcontroller was verified and quantization of the trained FNN was performed within the NNoM library. Finally, a comparison of the Keras2c, AIfES, TFLM and NNoM libraries was performed in terms of ease of implementation, classification accuracy and classification speed on the AURIX platform.
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Comparison of H-infinity and LQG controller
Friml, Dominik ; Blaha, Petr (referee) ; Pohl, Lukáš (advisor)
This thesis deals with the MIMO system analysis, with a comparison of a different frequency charactersitics, and including singular values characteristic. The H2 and H norms are defined for signals and a MIMO systems. A MIMO optimal control using an LQG, an H2 and an H control is defined and described. Their general advantages, disadvantages and similarities are summed up. An H2 and an H state controller and state observer synthesis is implemented in a MATLAB using linear matrix inequalities. Control of an inverted pendulum is designed using the H optimal cascade control, the H2 state control and the H state control. The results are compared with each other. The theoretical possibility of same H2 and H optimal state controller design is presented.
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Condition monitoring of mechatronic systems
Horňan, Bohdan ; Buchta, Luděk (referee) ; Blaha, Petr (advisor)
This thesis is concerned with condition monitoring and quantitative analysis of synchronous motors. Constantly rising requirements on the reliability of motors develop new methods of predictive diagnostics, which can identify failure conditions in the initial stage. Created mechatronic systems with the implemented failure from pre-prepared PMSM model are tested by unconventional condition monitoring methods. Software solutions of diagnostics and model designs of the mechatronic systems are implemented in MATLAB & Simulink. Part of this work is also a short introduction to the issue with necessary theoretical fundamentals and research of some selected methods of predictive diagnostics.
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Control of DC Servo Drive
Gerlich, Jan ; Blaha, Petr (referee) ; Václavek, Pavel (advisor)
This work deals with the proposal of cascade control of the DC servo motor. This work solve proposal of position regulators, angular velocity regulators and current regulators. Futhermore this work deals with the implementation of an algorithms of discrete PI and PID regulators on microprocessor.
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Laboratory tasks for Feedback 38-001
Gléba, Gergely ; Veselý, Libor (referee) ; Blaha, Petr (advisor)
The aim of this project was to get acquainted with the preparation Feedback 38-001, regenerate and establish several demonstration tasks. The first part deals with the description and the resurgence of the device. The second section describes the activities of modernization and innovation the teaching facilities. The main care was to focus on the implementation of connection with the computer supplementing measuring card and obtaining information of the regulation in real time. The third part includes the proposed laboratory tasks. The first task is based on the on-off control, which is mostly used in practice for its ease of use, with no major claims. The second task is defined for continuous control, which ensures better quality and comfort of controlling the level and the water flow. The third contains a task for identification of system parameters.
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