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Simulation of nonlinear response of construction materials and problem of identitifaction of material parameters
Hokeš, Filip ; Kala, Zdeněk (referee) ; Krejsa,, Martin (referee) ; Kala, Jiří (advisor)
The issue of parameter idenetification within numerical simulations can be considered a necessary step in the use of mathematical models, such as complex material models of building materials utilized in finite element method. The problem is particularly epmhasized in the case of anisothropic materials but also in the case of concrete, which behaves differently in tension and compression and which shows different response under rapid-dynamic and long-term loading. Correct capture of the concrete response in the computation requires usage of plasticity theory, damage theory, visco-elasticity and visco-plasticity or their mutual combinations. It results in development of material models and rheological schemes with large amount of parameters that are not commonly available in standards. The disseration presents application of meta-heuristic algorithm Particle Swarm for parameter identification. The success of the method is demonstrated in a pair of cases, first on the identification of elastoplastic material model parameters from stress strain diagram and then to identify the values of stiffness constants and viscosities of the rheological scheme from a creep curve.
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Control of ABS educational model
Kubisz, Jan ; Spáčil, Tomáš (referee) ; Sova, Václav (advisor)
This bachelor´s thesis deals with renewal of education model for ABS braking simulation, determination of parameters of this model and following aplication of those parameters for simulation model compilation. Second part is to create two types of regulation with known speed of roadway and with unknown speed of roadway. Created regulators are then tested on real system to verify their funcionality.
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Modeling and analysis of laboratory rotational pendulum
Nedvědický, Pavel ; Bastl, Michal (referee) ; Brablc, Martin (advisor)
This bachelor thesis aims at modelling, identification and control of Furuta pendulum. System was described via mathematical equations and simulation model was created in Matlab/Simulink. Parameters of rotary inverted pendulum were estimated using the simulation model. Then the thesis deals with swing up via torque impulse, energy control and PD regulator. In the part dealing with friction five compensation models were created. They include change of friction during rotation and one of them is dynamic model, Reset Integrator. Models were verified by adding them as an input to an actuator and testing them. To stabilize pendulum in inverted position state feedback control with state observer was designed using LQR method. Final regulation included all knowledge obtained during this thesis.
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Inverted pendulum control
Daněk, Petr ; Němec, Zdeněk (referee) ; Marada, Tomáš (advisor)
This diploma thesis deals with inverse pendulum control. There are described types of inverse pendulums, used power electronics, sensors and their connection to the MF624 control card and to external hardware. Further is described the identification of parameters, including the assembly of a custom algorithm for identification of viscous friction in the pendulum rotary coupling. For identification of moments of inertia are used 3D CAD models, where the thesis describes also use of these models for VRML visualization. The thesis also describes how to build a dynamic model by using Matlab-Simulink and the Simscape-Multibody toolbox. This model is further used in design of the controller using LQR and its simulation testing. The controller is complemented by swing-up algorithm, security elements and MF624 driver interface is designed. The control is tested on a real inverse pendulum assembly and implemented in external hardware.
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Control Rotational Inverse Pendulum Laboratory Model
Šnajder, Jan ; Bastl, Michal (referee) ; Brablc, Martin (advisor)
Aim of this bachelor thesis is modeling, identification and control of rotational inverted pendulum. The thesis describes parts of real system and its control. The work also contains creation of simulation model in Matlab/Simulink. Simulation model is respresented by mathematical equations created by second type Lagrange equations. Estimation of parameters is based on reduced systems and these parameters have been validated. Control of system is based on state-space model. The paper includes description of linearization, design of state-space control created by LQR method and creation of state-space observer. The last part of the study is focused on state observer experiments, friction compensation by few static friction models and by adding noise to compensation.
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Control of Linear Inverted Pendulum Exhibition Model
Vávra, Patrik ; Sova, Václav (referee) ; Brablc, Martin (advisor)
The main aim of this bachelor thesis is to create robust linear inverted pendulum control. After system identification comes the creation of regulators from which the most suitable is chosen for the final control of the pendulum. Another point of thesis is to develop a swing-up controller that takes care of swinging the pendulum into an unstable position and swing-down controller to stabilize the pendulum as quickly as possible in a stable pendulum position. The following sections of the thesis include the design of the control structure, safety measures and evaluation of the performed testing.
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BLDC drive control
Havlíček, Jiří ; Buchta, Luděk (referee) ; Otava, Lukáš (advisor)
The bachelor thesis is focused on problems of sensor control of Brushless DC Electric motor (BLDC) using hall-effect sensors. The BLDC motor is connected to 3-Phase low-voltage board which was produced by Freescale Semiconductor, Inc. The board is adapted to control electrical motors by MC56F8006 signal microcontroller. The next part is devoted to implementation of interconnection of the machine with the Matlab/Simulink programme using the MF 624 multifunction I/O card. Cascaded control, current and speed loops are used for the final configuration. The former loop is realized in the signal microcontroller, the latter one in the Simulink programme.
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Frequency method for motor parameters identification
Zimmert, Martin ; Buchta, Luděk (referee) ; Pohl, Lukáš (advisor)
This bachelor´s thesis deals with improved frequency method for motor parameters Identification. The goal of this thesis is to get an overview about identification method and simulate it on motor model in the Simulink and then to verify functionality of the method on the real motor. Firstly there are informations about a motor with permanent magnets and its control. Then there is an application of identification method for complete motor model. In the next part is measurement of the real motor. In the end is design of controller and discrete filter of identification signal.
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