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Servomotor with electronic commutating and his control and adjusting.
Schmied, Miloš ; Chomát, Luděk (referee) ; Pivoňka, Petr (advisor)
This thesis deals with the analysis of the actuator ACOPOS and its accessories. There are described the cascaded control loop concept and the setting servomechanism from B&R Automation with the important parameters. We follow the draft a speed controller servomotor with a load with the regards to knowledge of the control system. We compare the different methods of labor control actuator at last. There are implemented laboratory tasks of Position servomechanism and speed servo controller-on-load as a demonstration of our achieved results.
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Adaptive optimal controllers with principles of artificial intelligence
Samek, Martin ; Malounek, Petr (referee) ; Pivoňka, Petr (advisor)
Master’s thesis describes adaptive optimal controller design and it’s settings. Identification with principles of artificial intelligence and recursive least squares identification with exponential and directional forgetting are compared separately and as part of controller. Adaptive optimal controller is tested on physical model and compared with solidly adjusted PSD controller. Possibilities of implementation of adaptive optimal controller into programmable logic controller B&R are show and tested.
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Adaptive controllers with principles of artificial intelligence and its comparison with classical identifications methods
Dokoupil, Jakub ; Malounek, Petr (referee) ; Pivoňka, Petr (advisor)
This piece of work deals with a philosophy of design adaptive controller, which is based on knowledge of mathematical model controlled plant. This master thesis is focused on closed-loop on-line parametric identification methods. An estimation of model´s parametres is solved by two main concepts: recursive leastsquare algorithms and neural estimators. In case of least-squares algorithm the strategy of preventing the typical problems are solved here. For instance numerical stability, accurecy and restricted forgetting. Back Propagation and Marquardt- Levenberg algorithm were choosen to represent artificial inteligence. There is still a little supermacy on the side of methods based on least-squares algorithm. To compare individual algorithms the grafical interface in MATLAB/Simulink was created.
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Robust Controllers
Dobias, Michal ; Dvořáček, Martin (referee) ; Pivoňka, Petr (advisor)
This thesis tries to research the term “robust controllers”. Its aim is to compare the robustness of discrete PID controllers (Discrete Equivalent Continuous Controller, Discrete Impulse Area Invariant, Takahashi, Feed-Forward), adaptive discrete PID controllers (Discrete Impulse Area Invariant, Takahashi, Feed-Forward), optimal controllers (quadratic optimal), and adaptive optimal controllers (quadratic optimal) on chosen transfer functions. Its aim is also to check the influence of A/D and D/A converters. The aims to obtain are demarked at the beginning of the text and also there is an explanation of the term “robustness.” Later on there is a description and an approximation to each of the chosen kinds of controllers and the identification methods used in the thesis (for adaptive controllers the method of recursive least-squares was used). The Kharitonov's Theorem are made on the chosen transfer function. Next there is a description of the methods with which the robustness of the controllers will be tested. The first method is the integral criteria, particular ITAE criterion and quadratic criterion. The second one is the analysis of the generalised circle criterion. Furthermore there are various displays of the results obtained and their corresponding comments. The results obtained are graphically displayed and by means of these schemes the particular types of controllers are compared. All of the simulations and results obtained were acquired through the use of the program MATLAB- Simulink. In the end of the thesis there is an overall evaluation.
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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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Adaptive controllers with principles of artificial intelligence
Pitra, Michal ; Malounek, Petr (referee) ; Pivoňka, Petr (advisor)
The diploma thesis is focused on an adaptive control, especially in a self-tuning controller area. The thesis is divided into two main parts. The first part deals with identification methods of the adaptive control. The recursive least squares algorithm and the neural network method are the most popular identification methods. These methods are contrasted and the identification quality evaluation is done. The second part compares various types of the adaptive controllers with a non-adjustable PSD controller. The adaptive controllers are investigated from the various identification method point of view. The user graphic interface was realized for the identification and regulatory part. The time behavior of system responses after incoming disturbance and dynamic process changes during simulation systems control is compared with a physical model connected to B&R PLC. The comparison is done with the application of Matlab/Simulink program.
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Estimator in control systems with variable structure
Dvořáček, Martin ; Mikšánek, Vojtěch (referee) ; Pivoňka, Petr (advisor)
The thesis write about the linear discrete time incremental estimators. These are used for the choice of the best control system in systems with variable structure and further for direct control with status controller. There is an application of this on physical plane. In this paper PID variation controllers are discussed and optimized using Nelder-Mead Simplex Method. Feedback control with optimal PID is compared with control using linear discrete incremental estimators and status regulator.
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Prediktive controllers with principles of artificial intelligence
Matys, Libor ; Mikšánek, Vojtěch (referee) ; Pivoňka, Petr (advisor)
Master’s thesis deals with problems of predictive control especially Model (Based) Predictive Control (MBPC or MPC). Identifications methods are compared in the first part. Recursive least mean squares algorithm is compared with identification methods based on neural networks. Next parts deal with predictive control. There is described creation MPC with summing element and adaptive MPC. There is also compared fixed setting PSD controller with MPC. Responses on disturbance and changes of parameters of controlled plant are compared. Comparing is made on simulation models in MATLAB/Simulink and on physical model connected to PLC B&R.
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Temperature controller of microwave reactor
Pokorný, Ondřej ; Chomát, Luděk (referee) ; Pivoňka, Petr (advisor)
Simple low-cost temperature feedback control loop was created, using personal computer as control and data acquisition element. It controlled the temperature inside mircowave pressure reactor. Medium in reactor tank (volume about 600 ml) was calorified by 1,8 kW magnetron, which power was driven by PSD controller. The PC- process interface was made by USB data acquisition modul UD128A8D. The utility program was written. It implemented PSD controller and data acquisition function. Furhtermore it implemented interface which enabled user to set the technological curve (time-temperature relation). The protocol of experiment was automatically stored to Micosoft Excel file before the program’s termination.
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