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Design of control system of two wheels mobile robot
Robenek, Vít ; Kovář, Jiří (referee) ; Houška, Pavel (advisor)
The aim of this bachelor thesis is to design control system of a two-wheel mobile robot and to subsequently implement this system using available sensor devices and National Instruments’ Single-Board RIO platform. The introduction briefly describes the general issue of two-wheel mobile robots as inverted pendulums, followed by an overview of several existing solutions to this problem. The following describes used robot including description of its parts and its mathematical model. Then the main part of the work follows, which is design of the sensory and control system. At the end of the thesis, the implementation is described along with evaluation of the stabilization system results.
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Design and implementation of a universal data logger
Vokál, Tomáš ; Kovář, Jiří (referee) ; Houška, Pavel (advisor)
Subject of this thesis is to design universal datalogger while using .NET Micro Framewrok. The design was tested on a developing kit EMX produced by GHI Electronics. At the beginning a problematic of .NET Micro Framework is introduced to a reader. After that architecture of project and mechanism of controlling device are described.
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Control of the Mini-Swing manipulator
Ráheľ, Dušan ; Hadaš, Zdeněk (referee) ; Houška, Pavel (advisor)
The diploma thesis deals with control of robotic manipulators and their range of applicability. The main objective is to create kinetic model of manipulator in the SolidWorks environment and to set up the identification and control program in the LabVIEW software. It evaluates the applicability of SoftMotion Module tool, which was developed especially for the model control in Motion analysis. The proposed method of control is used on the kinetic model, which employs control commands for the movement of manipulator MiniSwing
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Position control of cross-table dedicated manufacturing machine
Plocek, Jaroslav ; Vetiška, Jan (referee) ; Houška, Pavel (advisor)
The bachelor thesis treats the drive solution of the two axis cross-table of a single-purpose manufacturing machine. The first chapter analyzes the concept of drives and compares different variants using either a direct linear drive or a ball screw with a rotary servo drive. The thesis further deals with sizing the motor and the power unit assembly and the description of the whole measuring system. The structure of cascading position controller, its description and the calculation of current and speed control loops is covered in the next part. The last section discusses practical settings of all control parameters.
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Control of three-axis manipulator
Rapčan, Ján ; Kroupa, Jiří (referee) ; Houška, Pavel (advisor)
This thesis deal swith controlling and precision positioning of conveyor in 3D space. Equipment for controling of positioning is made by Bernecker&Reinercompany. Important objective of work is also familiarization with programing environment AUTOMATION STUDIO, which powers whole operation.
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Application of Thermoelectric Module for Temperature Control
Gofroň, Vojtěch ; Andrš, Ondřej (referee) ; Houška, Pavel (advisor)
This bachelor thesis describes the possibilities of use thermoelectric modules for temperature control in a temperature chamber. In the theoretical part are shown physical principles of thermoelectric cooling, heating and power generation. The main part regarding thermoelectric modules describes its design, use and important parameters for temperature control. The next chapter is focused on measuring of quantities important for temperature control using thermoelectric modules. The last part describes few proposals of a temperature chamber design.
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Control units for small EC motors with universal software interface
Vetiška, Jan ; Hadaš, Zdeněk (referee) ; Houška, Pavel (advisor)
This graduation thesis deals with the design and realisation of the universal control unit for the electrically commutated motor ( EC motor). Was to accomplish the market research of control units for EC motors and compare of parameters of control units with requirements for the universal control unit of EC motors. From the research ensued that on the market it is no unit with the open system which could enable substitute particular control loops by own loops. Based on this evidence it was approached to own construction of the universal unit. For the design it was used the access hardware in the loop a software in the loop. It was performed the design of particular sections of the unit, manufactured the power section and this power part was tested by the help of the developmental and simulation software Labview. Furthermore it was proceeded for the realisation of the integral control unit and for supplementation of the existing software of the control unit about appropriate drivers and it was undertaken the modification of the control algorithm for the need of EC motor. On the end of this project we tested achieved parameters of the control unit.
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Design of stand for atmospheric resistors testing
Kerek, Milan ; Hudec, Martin (referee) ; Houška, Pavel (advisor)
This master’s thesis deals with the design and manufacture of device for testing and verification of functionality of atmospheric resistors produced by IMI CCI Czech Republic. An atmospheric resistor, also called disk stack, is a stack of disks through which the medium flows and the system of labyrinths in disk stack causing a pressure reduction of medium. This thesis describe design of the mechanical parts of stand for atmospheric resistors, choice pneumatic circuit’s components, data acquisition hardware for measuring flow, inlet and outlet pressure, and temperature. The software was created in LabVIEW programming environment. In the end of this paper was done measurement in order to test functionality of test stand and software.
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