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Optimization of a Parallel Mechanism Design with Respect to a Stewart Platform Control Design
Březina, Lukáš ; Palčák,, František (referee) ; Čech, Vladimír (referee) ; Singule, Vladislav (referee) ; Malenovský, Eduard (advisor)
Předkládaná práce se zabývá návrhem modelu dynamiky paralelního manipulátoru optimálního pro účely návrhu řízení. Zvolený přístup je založen na modelování dynamiky systému v simulačním prostředí Matlab SimMechanics následovaném linearizací modelu. Výsledný stavový lineární model mimo jiné umožňuje snadné posouzení řiditelnosti a pozorovatelnosti modelu. Díky své relativní jednoduchosti je model také výpočetně nenáročný. Přístup je demonstrován na návrhu dvouvrstvého řízení SimMechanics modelu Stewartovy platformy, na kterém bylo následně navržené řízení úspěšně testováno. Podstatná část práce obsahuje přístup k modelování neurčitých parametrů dynamického modelu Stewartovy platformy a stejnosměrného motoru Maxon RE 35 a jeho výsledky. Předložený přístup je založen na modelování parametrické neurčitosti způsobem, kdy je neurčitost definována individuálně pro jednotlivé prvky stavových matic modelu. Samotná neurčitost je potom určena rozdílem mezi jednotlivými parametry příslušných matic nominálního modelu a modelu se stanovenou maximální neurčitostí parametrů. Výsledný neurčitostní model je vzhledem ke své stavové reprezentaci vhodný pro návrh regulátoru založeném na metodách návrhu robustního řízení, například minimalizaci normy H-nekonečno. Popsaná metoda byla použita pro kompenzaci posunu mezi pracovními body, okolo kterých je prováděna linearizace a pro kompenzaci nepřesnosti modelování vybraných parametrů modelů Stewartovy platformy a stejnosměrného motoru. Získané modely (v prostředí SimMechanics a neurčitostní model) byly experimentálně porovnány s chováním jednoho z lineárních pohonů Stewartovy platformy. Rozdíl v datech obdržených ze simulace v prostředí SimMechanics a naměřených na reálném stroji byl téměř kompletně pokryt neurčitostním modelem. Prezentovaná metoda neurčitostního modelování je velice univerzální a aplikovatelná na libovolný stavový model.
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Mechatronic system for presentation of damped oscillation
Sirota, Tomáš ; Březina, Lukáš (referee) ; Hadaš, Zdeněk (advisor)
This work is aimed to creating a system for presentation of oscilations. The main part consist of electromagnetic damper, which properties are suitable for use in this system. In the first part are some conditions for design of damper body . In he second part are selected next parameters for electromagnetic damper and of the whole system by MATLAB / Simulink with iterative method. In last part is whole system analyzed and the results indicate next changes in the structure of the system.
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Control algorithm for aircraft stabilization
Novák, Pavel ; Březina, Lukáš (referee) ; Krejsa, Jiří (advisor)
Master’s thesis: "Design of the control algorithm for aircraft stabilization" summarizes aircraft aerodynamics knowledge, from which nonlinear mathematical model of the aircraft and propeller propulsion system are created. Design of the control algorithm for angle position stabilization (for longitudinal motion) and the control algorithm for “Flight Path Angle hold“ and “Flight Level Change” modes is also presented here. Designed control algorithms are tested within the simulation of the real atmosphere at the end of the thesis.
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Design of automatic drive for church bells
Zajíc, Jiří ; Březina, Lukáš (referee) ; Krejsa, Jiří (advisor)
The Diploma thesis describes the design, manufacture and testing of a universal automation machine for church bells. The research section summarizes the bell, way of use and properties. The drives and their starting and power switching characteristic are analyzed. The chain drive based on the selected engine and the whole assembly is designed and tested by using PLC. Unique controller based on a modular design was designed. Sensors based on magnetic rotary encoder were also created for this unit. The entire circuit was tested on three evangelical church bells in the town Klobouky u Brna.
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Simulation Modelling of Manipulator Mechatronic System in ADAMS
Foriška, Aleš ; Březina, Lukáš (referee) ; Hadaš, Zdeněk (advisor)
This thesis deals with the simulation modelling of manipulator mechatronic system in ADAMS. The beginning of thesis is dedicated to the theoretical study of the compute modelling electro-mechanical systems and mechatronics approach modelling manipulator’s systems. Next chapters describe the creation of kinematics model of the manipulator with using ADAMS and proposal supporting frame in ANSYS/Workbench environment. The next step, manipulator and supporting frame simulation model is created for the computing vibration a dynamic analysis. At the end of this thesis is used cosimulation ADAMS and Matlab/Simulink for the control of synchronous drivers of manipulator.
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Simulation modeling of parallel mechanisms
Cintula, Ladislav ; Houfek, Lubomír (referee) ; Březina, Lukáš (advisor)
Parallel mechanisms are characterized by their kinematic structure presented a closed kinematic chain. The end effector of mechanism is then bound to a base of over one arm. This design provides an advantage especially at high stiffness of mechanism and related properties. The disadvantage of such a structure is then usually very limited working space. In terms of simulation modeling is the construction due to its complexity rather problematic. The aim of work is design comprehensive simulation model chosen parallel mechanism and its analysis in selected working modes. Expected to use Adams simulation environment, if necessary. Matlab - SimMechanics and Ansys.
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Mobile robot detection using image processing
Novotný, Stanislav ; Březina, Lukáš (referee) ; Krejsa, Jiří (advisor)
This master´s thesis deals with processing of image sequence taken by statically placed camera over plane of robot movement. At first there are methods for image segmentation and localization methods described. In the next part, selected methods are implemented and compared to individual images. In the final part, selected methods are further implemented in algorithm for batch processing of image sequence.
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Positioning system for noise measuring microphones
Pulec, Václav ; Březina, Lukáš (referee) ; Singule, Vladislav (advisor)
The thesis deal with programing of algorithm for creating measuring box composed of measuring points. Coordinates of these points will be used for planing trajectory of the robot’s effector. It describes construction of structural model in Solid Works and calculate dynamic model by matrix formalism in MATLAB. In conslusion dynamic model of positioning system is used for the choice of appropriate motors.
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Design of software module for paraglider landing simulator
Šulc, Dalibor ; Březina, Lukáš (referee) ; Krejsa, Jiří (advisor)
The aim of this diploma thesis is software designed to simulate landing of the paragliding wing. It means the development of the mathematic model describing the final stage of flight and landing. The model comprises the effects of controls (brakes, speed bar, weight-shifting). One part of the thesis is the description of the implementation in C# language with complete source codes.
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Object tracking in videofeed
Klvaňa, Marek ; Březina, Lukáš (referee) ; Krejsa, Jiří (advisor)
The aim of this thesis is a description and implementation of algorithms of the tracked objects in the video feed. This thesis introduces Mean shift and Continuously adaptive mean shift algorithms which represent category based on kernel tracking. For construction of a model is used a threedimensional color histogram whose construction is described in this thesis as well. The achievements of described algorithms are compared in the testing images sequences and evaluated in details.
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