|
|
Automatic tuning of the DC motor controller
Tran, Adam ; Brablc, Martin (referee) ; Najman, Jan (advisor)
Diploma thesis deals with designing of algorithmus for automatic controller tunning for DC motors. Automatic tuning function consist of system identification and controller parametrization. Cascade control loop was chosen for its robustness and proper DC motor control. For electric system identification of DC motor was used recursive method of instrumental variables, because of noisy signal from current transducer. In the case of identification mechanical system, there were used least sqares method. According to identified parameters, current controller was parametrized by optimum module and revolution controller according symetrcal optimum.
|
|
|
Automated tuning of drive controller
Adamec, Matúš ; Pohl, Lukáš (referee) ; Blaha, Petr (advisor)
This thesis deals with automated tuning of drive controller. To achieve this goal, system identification is needed. Therefore, the issue of identification is described at the beginning of this thesis. Spectral analysis was selected from many described methods. It was implemented in Matlab and also in C# language where was used averaging and Blackman-Tukey method. The C# application is linked to Beckhoff TwinCAT 3 and TwinCAT 2 runtime sytems that enable connections with real drive. Next, the problem of drive regulation is discussed and the results of using spectral analysis on real drives are shown. At the end of the thesis is described the algorithm of setting the speed controller with different types of frequency converters.
|
|
|
Helicopter model control
Štefanisko, Ivan ; Blaha, Petr (referee) ; Pohl, Lukáš (advisor)
In this paper we will introduce the existing model of a helicopter for teaching dynamic systems. Later, we will explore various control options of a model, and design laboratory tasks for the selected subject for bachelor‘s and master‘s study. In becoming acquainted with the model of a helicopter we describe hardware parts and the theoretical mathematical model. We can design controls after we have created a subprograms aimed at raising the rotational angle arms, pulse-width modulation to control the motor speed or creation itself control. The control methods we propose are the Ziegler-Nichols and frequency characteristics. The actual laboratory tasks will be formed with respect to the content of subjects taught bachelor‘s and master‘s study.
|
|
|
Microprocesor light system control
Janča, Adam ; Petyovský, Petr (referee) ; Macho, Tomáš (advisor)
The thesis deals with a design and realization of a room light control system. The design itself begins with choosing an appropriate conception of the system considering an easy control interface and installation in the present light system. A core of the thesis is formed especially by identification of the controlled system, followed by a regulator design and then evaluation of the results.
|
|
|
Mathematical Model of Biomass Boiler for Control Purposes
Máša, Vítězslav ; Klemeš,, Jiří (referee) ; Olehla, Miroslav (referee) ; Švarc, Ivan (advisor)
he thesis focuses on building of dynamic mathematical model of biomass boiler as a controlled system and the use of this model in practise. At the first part of the thesis the area of energy production using biomass is introduced and the current development at the area of the automatic control of biomass boilers with medium energy output (in units of MW) is described. Although the main topic of the thesis is the construction of model of biomass boiler for control purposes, thesis deals with technology of boilers and principles of its inner processes as well. Creation of the model comes out not only from these important findings, but also from experimental data collected during measurements in real operation. Heat and mass balance calculations were made according to these data and they serve to precise static properties of experimental unit for biomass combustion. Central part of the thesis presents development of the final model that resulted from balance calculations and from step responses of the system obtained by measuring. Built dynamic model is compared with experimental data through simulations in Simulink and verified. At the next part the model of controlled system is completed with control system and closed-loop control circuit is validated and verified by simulation. Then the design of new controller configuration, which improves the quality of control considerably, is presented. At the final part of the thesis, possibilities of other use of the model of boiler are given, both in control theory and in industrial practice.
|
|
|
Parallel Computing and Neural Networks in Behavioral Modeling
Vágnerová, Jitka ; Škvor,, Zbyněk (referee) ; Dědková, Jarmila (referee) ; Lukeš, Zbyněk (advisor)
Tato disertační práce se zabývá metodami modelování elektronického zařízení letadel. První část je stručným přehledem klasických metod modelování systémů a adaptivních, fuzzy a hybridních metod používaných převážně k black-box modelování. Cílem práce je vytvořit algoritmus pro identifikaci a modelování obecného systému, který může být nelineární, dynamický a velmi složitý, například co do množství rozměrů. Předpokládá se, že model má několik vstupů a výstupů. V hlavní části práce je rozebrána metoda, která patří mezi hybridní systémy, protože kombinuje fuzzy systém s parametricky definovanými pravidly a regresní neuronovou síť. Nejprve je zmíněn základní princip regresní sítě a způsob určení jejího parametru strmosti, dále se kapitola zabývá zavedením fuzzy pravidel do této sítě. Třetí část se zabývá jedním z hlavních bodů práce, paralelními výpočty. Výsledný algoritmus je navržen pro paralelní zpracování, protože výpočetní čas může být v případě složitějších modelů příliš vysoký, případně nelze výsledky získané ze sítě vyhodnotit pomocí výpočtu v jednom vlákně. V závěru práce je metoda ověřena na datech získaných z měření zmenšeného modelu letadla. Ověření je provedeno pomocí střední kvadratické odchylky a srovnáním s odpovídajícím modelem vytvořeným pomocí vícevrstvé neuronové sítě trénované zpětným šířením chyby s algoritmem Levenberg-Marquardt.
|
|
|
Development of algorithms state estimation of experimental vehicle
Lamberský, Vojtěch ; Krejsa, Jiří (referee) ; Grepl, Robert (advisor)
This thesis deals with the filter algorithm design, implementing mathematical model to improve algorithm performance. Designed algorithms are implemented in a control unit of the experimental vehicle (filters signal used in the closed-loop controller). The improvement of the position estimation using Kalman Filter is demonstrated on the experimental vehicle. In the next part the design process of algorithm developing for dsPIC microcontroller using Matlab is described.
|
|
|
Control system for electrodynamic vibration exciter
Čala, Martin ; Beneš, Petr (referee) ; Havránek, Zdeněk (advisor)
Master's thesis deals with implementation of a control system for an electrodynamic exciter. Patent and literature research with focus on applicable control methods is performed. Then, description of the methods applicable in the system identification, as well as types of the signals used in the vibration testing are discussed. The practical section is dedicated to the analysis of available hardware resources, design, assembly and verification of a control system for an electrodynamic exciter equipped with piezoelectric accelerometer and components of National Instruments.
|
|
|
Few Issues Related to an Electrodynamic Exciter Control
Čala, M.
There are multiple problems to solve when controlling an electromagnetic exciter for vibrations generation. Main challenge is to straighten a frequency response of an exciter which is normally not uniform due to resonances resulting from the mechanical construction of an exciter, specimen to test, or mounting fixture. This paper describes number of aspects to consider, which arose during implementation of the control system for small electrodynamic exciter on the Department of Control and Instrumentation.
|
|
|
Algorithms of Electrical Drives State Estimation
Herman, Ivo ; Vavřín, Petr (referee) ; Václavek, Pavel (advisor)
This thesis deals with state estimation methods for AC drives sensorless control and with possibilities of the estimation. Conditions for observability for a synchronous drive were derived, as well as conditions for the moment of inertia and the load torque observability for both drive types - synchronous and asynchronous. The possibilities of the estimation were confirmed by experimental results. The covariance matrices for all filters were found using an EM algorithm. Both drives were also identified. The algoritms used for state estimation are Extended Kalman Filter, Unscented Kalman Filter, Particle Filters and Moving Horizon Estimator.
|
guest ::
