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Implementation of mechatronic demonstration device
Fedor, Filip ; Pohl, Lukáš (referee) ; Friml, Dominik (advisor)
Paper covers implementation of mechatronic demonstration device using PMS motor. It consists of four parts. Part one lists mechatronic demonstration devices and chooses the appropriate one to be build. Part two explains means of driving PMS motor with focus on FOC algoritm. Part three covers real-life demonstration of torque and position control of PMS motor. In part four suitable motor is chosen using mathematical modeling. Part five covers assembly and testing of mechatronic demonstration device.
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Pendulum stabilization
Maralík, Marek ; Veselý, Libor (referee) ; Pohl, Lukáš (advisor)
The diploma thesis deals with putting the pendulum into upright position and its stabilization on a real system. The opening chapter describes the limiting various implementation inverse pendulums, the use of major laboratory tasks in industry, and the selection of appropriate methods for stabilization. The real system was properly identified and parameterized. The mathematical model of the inverse pendulum was derived using the Lagrange method of the second type, the nonlinear system was converted into a status description and linearized for the needs of the state controller design. The system was simulated in the Matlab Simulink environment. The LQR controller was chosen as the regulator stabilizing in upright cases. A Kalman controller in discrete form was prepared for the filter signal and estimation of residual states. The energy method was chosen for the upright pendulums. The proposed methods were tested and implemented in simulation and on a real system.
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Control Design of the Rotation Inverted Pendulum
Cejpek, Zdeněk ; Němec, Zdeněk (referee) ; Matoušek, Radomil (advisor)
Aim of this thesis is building of a simulator model of a rotary (Furuta) pendulum and design of appropriate regulators. This paper describes assembly of a nonlinear simulator model, using Matlab–Simulink and its library Simscape–Simmechanics. Furthermore the paper discuss linear discrete model obtained from the system response, using least squares method. This linear model serves as aproximation of the system for designing of two linear discrete state space regulators with sumator. These regulators are supported by a simple swing–up regulator and logics managing cooperation.
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The design of inverse pendulum
Kukla, Ondřej ; Zapletal, Tomáš (referee) ; Strecker, Zbyněk (advisor)
This thesis deals with design of inverted pendulum and experimental prove its functionality. Design was made in MATLAB Simulink software and experiment meant that pendulum can turn about 360°. In this thesis is described functional device which meets all asked requirements. There is also described process of design and construction of inverted pendulum which is the main benefit.
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Control of inverted pendulum model
Zapletal, Vít ; Najman, Jan (referee) ; Spáčil, Tomáš (advisor)
This thesis is connected to bachelor thesis of Bradáč, M.: Design, production and testing of education model ''Inverted pendulum''. It deals with analysis of faults and construction imperfections and subsequently their solutions. It further describes development of controll algorithm in Matlab/Simulink. The end is dedicated to automatic code generation and inverted pendulum controll by microcontroller.
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Mobile robot control system
Kalina, Michal ; Veselý, Libor (referee) ; Hynčica, Ondřej (advisor)
This thesis deals with building of two-wheeled mobile robot and consecutive creation of drivers and control for sensors, engines and controller design. The control is based on Arduino platform using ATmega328 processor. Firstly there is in this thesis recherche. Part of this thesis is modelling one where simulation model of our system is created, its linearization and then controller design. Further it contains description of the building robots body, description and functionallity of used engines, description of all sensors and detailed description of available printed circuit board. In the end there is software part where the engines control is described, operation of the sensors and functionallity of the controller. Result of this thesis is function application of controlling and operating of two-wheeled unstable mobile robot.
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Neural-Fuzzy Systems
Dalecký, Štěpán ; Samek, Jan (referee) ; Zbořil, František (advisor)
The thesis deals with artificial neural networks theory. Subsequently, fuzzy sets are being described and fuzzy logic is explained. The hybrid neuro-fuzzy system stemming from ANFIS system is designed on the basis of artificial neural networks, fuzzy sets and fuzzy logic. The upper-mentioned systems' functionality has been demonstrated on an inverted pendulum controlling problem. The three controllers have been designed for the controlling needs - the first one is on the basis of artificial neural networks, the second is a fuzzy one, and the third is based on ANFIS system. The thesis is aimed at comparing the described systems, which the controllers have been designed on the basis of, and evaluating the hybrid neuro-fuzzy system ANFIS contribution in comparison with particular theory solutions. Finally, some experiments with the systems are demonstrated and findings are assessed.
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Technological process simulation
Dostál, Jiří ; Veselý, Libor (referee) ; Malounek, Petr (advisor)
This paper deals with a design of an inverted pendulum model and its controller in Matlab/Simulink, a conversion of the model and its controller to the ANSI C language and its implementation to B&R PLC's. The source code for B&R PLC's is generated automatically by the B&R Automation Studio Target for Simulink library. The first part deals with the design of a mathematical model of the inverted pendulum and its simulation in Matlab/Simulink, followed by a design of a LQ controller for this model using Matlab functions and a description of the B&R Automation Studio Target for Simulink library. The last part of this paper deals with the implementation of the model and its controller into two separate B&R PLC's, which are networked with the Ethernet Powerlink industrial fieldbus and it also describes visualizations that were designed for operating the system.
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