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Mathematical model of the start of a racing vehicle on an unpaved surface
Čech, Tomáš ; Porteš, Petr (referee) ; Svída, David (advisor)
Tato práce popisuje proces návrhu diskrétního matematického modelu systému kontroly trakce v prostředí programu Simulink, pro rozjezd závodního prototypu třídy Super Buggy. Pravidla této závodní kategorie značně limitují prostředky, které je možné pro zmíněný řídící systém využít, a to hlavně v oblasti povolených senzorů. Aby systém kontroly trakce bylo možné navrhnout i s těmito omezeními, byl pro zmíněný závodní prototyp na míru vytvořen měřící systém, který byl následně využit pro sběr dat nutných k vytvoření virtuálního dvojčete závodního vozidla. To bylo, společně s na míru vytvořeným samostatným algoritmem, využito pro simulaci ideálního startu, kterého je vozidlo schopno dosáhnout. Na základě dat z této simulace byl vytvořen nový referenční model, podle kterého dokázal systém kontroly trakce regulovat vozidlo bez nutnosti využití zakázaných senzorů. Tento systém byl poté s využitím virtuálního vozidla testován, nejprve při akceleraci z místa, proti výsledkům dosažených při rozjezdu na plný plyn a několika dalších uměle vytvořených vstupních signálech na povrchu, pro který byl systém navržen. Dále byla testována nezávislost akcelerace vozidla, řízeného systémem kontroly trakce, na okmažiku přeřazení. Jako poslední byly zkoumány schopnosti fungování systému na površích s koeficienty tření jinými, než pro které byl systém navržen. V kapitole 13 a v závěru byla diskutována potenciální implementace navrženého systému, jeho celkový potenciál, nedostatky a možnosti pro další zlepšení a budoucí vývoj.
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Firmware for the Robotic Vehicle
Otava, Lukáš ; Sojka,, Michal (referee) ; Kučera, Pavel (advisor)
This thesis is focused on a firmware for robotic vehicle based on the ARM Cortex-M3 architecture that is running a real-time operating system (RTOS). Theoretical part describes available solutions of embedded RTOS and concrete HW implementation of the robotic vehicle. There is also comparison of the three selected RTOS with their measurements. Result of this thesis is base firmware compounded by a program modules that controls HW parts. There is also a sample PC and firmware application that extends base firmware. This sample application is able to communicate with robotic vehicle, control wheel motion and measure process data.
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Fluid couplings and torque convertors
Skokan, Jan ; Jandourek, Pavel (referee) ; Klas, Roman (advisor)
This bachelor thesis is devoted to the issue of fluid couplings and torque convertorsand their combination with mechanical gears. The main section outlines development and design of fluid couplings and torque convertors.Resources to improve their performance are also mentioned. Furthermore, there are mentioned combinations of fluid and mechanical transmission.
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Design of Experimental Stand for the Study of Railway Vehicles Sanding
Galas, Radovan ; Hruška, Marek (referee) ; Šperka, Petr (advisor)
Presented master’s thesis describes the design and the implementation of an experimental device used for the study of tribological aspects of wheel-rail contact. In this work, the reader will first learn the fundamentals such as adhesion, slip, traction curve, etc. Subsequently, the work is describing devices that are used for the study of wheel-rail contact around the world. This section is followed by the author proposed solution. The result is a twin disc device in the scale of 1:3. The device allows determining traction characteristics for different environmental conditions (presence of water, sand and oil in contact for different temperatures) and various operating parameters (contact pressure and speed). A part of this work are also the validation experiments and complete design documentation.
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Engagement Force Control of Multi-plate Clutches of Dual Clutch Gearbox
Horák, Josef ; Prokop, Aleš (referee) ; Novotný, Pavel (advisor)
The master’s thesis deals with ways of controlling starting clutches of cars, especially of DQ200 gearbox, which contains dry disc clutches. The introduction describes basic principles of torque transfer and amount of clutch force. Then the description of construction of starting clutches and ways of controlling clutch types mentioned beforehand is given. In the next part of the thesis, wide spectrum of control methods is measured, from which a certain part is selected. This is followed by driving tests and based on driving data, one method of the clutch control is chosen. Then those control methods from narrow selection are tested for acoustic impact in the cabin of the car. In the end the best way of clutch control is selected. The selection based on driving data and acoustic measurement.
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The influence of the chassis to the power and performance characteristics of tractors
Rašovská, Hana ; Slimařík, Dušan (referee) ; Bauer, František (advisor)
This master thesis deals with the influence of the type of tractor chassis on its utility properties. For the rating were used tractors John Deere 8 – series with wheel and track chassis, equipped with the same engine and gearbox, which were carried out for laboratory and field tests. The aim of laboratory tests was the exclusion of the difference in engine power of both tractors and the aim of field tests was to evaluate the drawbar properties of tractors with a different type of chassis. The reference parameter was especially drawbar pull, further drawbar power, slip and fuel consumption. Based on the tabular and graphical elaboration of the measured values were evaluated results.
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The effect of tyres on the output parameters of tractors
Kopečný, Aleš ; Havlíček, Miroslav (referee) ; Bauer, František (advisor)
The thesis summarizes the results of the measurement of the output parameters of the tractor, on which were mounted three different types of tires. The measured parameters are the maximum pulling power, slippage, specific effective fuel consumption at the maximum pulling performance. The final measured and calculated results are presented in tables and graphs. The results of the measurements were processed by the use of regressive analysis.
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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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The influence of the chassis on drawbar properties of tractors
Chmelař, Zdeněk ; Havlíček, Miroslav (referee) ; Bauer, František (advisor)
In this master thesis is analyzed the current situation in the construction chassis of tractors, in addition, a methodology for evaluating the impact of influences on drawbar properties of tractors. The main objective of this work was to analyze and conclude the measured drawbar properties of selected tractor same power and weight categories with different chassis designs. Measured and calculated values were tabular and graphically presented. When evaluating the drawbar properties were determined according tractive power and slip depending on the drawbar forces.
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Fluid couplings and torque convertors
Dančák, Zdeněk ; Sloupenský, Zdeněk (referee) ; Klas, Roman (advisor)
This work presents basic points and informations as to fluid couplings, torque convertors and the means of connection in hydromechanical transmissions. Work describes various structural design, it’s perfection, disavantages, and cooperation with engine. There are described the possible means of torque characteristics optimalization according to the needs of operation as well as the means to achieve better efficiency.
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