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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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Self-tuning control of electric motor
Havlíček, Jiří ; Blaha, Petr (referee) ; Pohl, Lukáš (advisor)
The diploma thesis deals with the self-tuning PSD controllers. The parameters of the model are obtained by a non-recurring method of least squares. With the assistance of the Matlab/Simulink programme, the individual processes of the PSD controller are compared on a second order system. In the thesis, a simulation of the self-tuning cascade control of PMSM‘s current and speed loop is created. The following part of the thesis covers the implementation of individual algorithms on the dSPACE platform for the real PMSM.
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Interactive software tools for teaching signal and image processing
Olbert, Jaroslav ; Rajmic, Pavel (referee) ; Mangová, Marie (advisor)
The bachelor’s thesis deals with creating Java applets to support teaching signal and image processing. The theoretical part of the thesis briefly describes the history and advantages of the Java language; subsequently the theories for individual applets and descriptions of the source codes are presented. The practical part consists of the design and creation of applets for linear combinations of images, the least squares method and recommendation of an aiming point on the darts target.
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Negation in Fuzzy Logic
Dekrét, Lukáš ; Havlena, Vojtěch (referee) ; Křena, Bohuslav (advisor)
This thesis deals with fuzzy logical connections, mainly negations, their properties and constructions.We focused our attention on triangular norms and conorms, which are often used for modeling of fuzzy conjunction and disjunction.We showed the possibilities of constructions of triangular norm and conorm using involutive negations.Futhermore, we dealed with approximation of function, which was created using empirical data to well known fuzzy negator.
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Industrial PID controller with autotuning and visualisation
Prudký, Miroslav ; Chomát, Luděk (referee) ; Pivoňka, Petr (advisor)
The objective of the thesis is to create software, which implements industrial PID controller enabling smooth switch-over and automatic tuning of parameters. The next objective is to create visualization for this controller. Whole controller have to be implemented into PLC Power Panel (B&R company). At the beginning of the thesis there is theoretical description of all implemented algorithms (discrete control algorithms derived from PID, smooth switch-over, antiwindup, identification algorithms). In the following there is designed program structure, which is state machine-shaped. All algorithms are implemented in ANSI C at first as s-function for Matlab/Simulink program, which enables to simulate and verify the controller. Implementation of controller into PLC Power Panel through the use of Automation Studio program from B&R company is described in the next part. Visualization is created in the same program. Simulations and verifications on mathematical and physical model demonstrates functionality of implemented algorithms, but also points out some problems associated with the use of identification algorithms in real world (noise, quantization in A/D and D/A converter).
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Dependence of the value of the construction enterprise on the size of the equity
Bahenský, Miloš ; Kocmanová, Alena (referee) ; Špirková,, Daniela (referee) ; Korytárová, Jana (advisor)
The doctoral thesis deals with the valuer issues of business valuation with construction production in the condition of the Czech economy. The business valuation issue is, and will always be, highly relevant in a market economy environment, with regard to both methodical and practical approaches. The main aim of the doctoral thesis is to demonstrate the dependence constructing empirical regression model to determine the value of the construction enterprise by the chosen income valuation method based on the equity (book value of equity in historical costs). The first part of the doctoral thesis is a research study describing the approach of the authors to the current state of knowledge concerning the issues of business valuation, aspects of equity, using the principles of system methodology. Based on these findings, a space is defined in which it is possible to propose a solution of a partial problem in terms of selecting the enterprise value category and the associated income valuation methods suitable for extensive time-series analysis. An integral part of the doctoral thesis is the determination of the sample size of construction enterprises according to the assumptions and limitations of the chosen methodology. Empirical research for data collection is based on Justice.cz database. Another important part is, in the spirit of system approach principles, the choice and application of the method of system discipline for the solved problem of doctoral thesis. The result of the solution is an empirical regression model, which after subsequent validation in multiple case studies could also be recommended for wider verification in valuers practice. Part of the thesis will also include discussions in the wider context of the potential benefits of the doctoral thesis for practical, theoretical and pedagogical use.
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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.
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Geodetic Monitoring of Bridge Abutment
Kinc, Martin ; Bureš, Jiří (referee) ; Bárta, Ladislav (advisor)
The bachelor's thesis deals with the measurement and evaluation of the deformation of the bridge abutment and the adjacent embankment in Ostrava on the road I / 56 Ostrava - prodloužená Místecká. The main part of the work deals with the implementation and processing of one stage of measurement to evaluate the displacements of these buildings using the methods of geometric leveling from the center, polar method, groundbased laser scanning mobile mapping system and multistation MS60. The next part of the work deals with the comparison of individual methods. The achieved results are interpreted in graphs, tables and also shown by color hypsometry.
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Determination of bench-mark heights in the FAST Veveři local leveling network
Peško, Tomáš ; Vondrák, Jiří (referee) ; Machotka, Radovan (advisor)
The theme of this bachelor thesis is determination of bench-mark heights in the FAST Veveři local levelling network. Theoretical part deals with the theory of determination of heights. Practical part describes used equipment, it’s preparation for measurement, measuring methods used to connect points with unknown heights to reference points from ČSNS and processing of measured data. Results of this thesis are equalized heights of the points which served as a base for documentation of levelling points and schematics of the levelling network.
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Geodetic Monitoring of Bridge Abutment
Kinc, Martin ; Bureš, Jiří (referee) ; Bárta, Ladislav (advisor)
The bachelor's thesis deals with the measurement and evaluation of the deformation of the bridge abutment and the adjacent embankment in Ostrava on the road I / 56 Ostrava - prodloužená Místecká. The main part of the work deals with the implementation and processing of one stage of measurement to evaluate the displacements of these buildings using the methods of geometric leveling from the center, polar method, groundbased laser scanning mobile mapping system and multistation MS60. The next part of the work deals with the comparison of individual methods. The achieved results are interpreted in graphs, tables and also shown by color hypsometry.
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