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An optimal strategy for transporting objects between moving conveyor belts
Vítek, Pavel ; Friml, Dominik (referee) ; Veselý, Libor (advisor)
This thesis deals with strategies used in pick-and-place applications. In the theoretical part, the main parameters of the robot-conveyor system, such as efficiency and gripping rate, are first described. Subsequently, pick-and-place problems are divided into solutions with one or more robots. Then, the paper focuses on well-known strategies such as FIFO or SPT. The construction of a cost function based on the position of an object on the conveyor is described. Furthermore, the creation of the simulation is described, which is then compared to the B&R solution. Then, the different strategies in different scenarios are analysed. Finally, the rules for the selection of strategies are formulated and the whole paper is summarized.
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Servo-drive control by Zedboard platform
Kozumplík, Miroslav ; Bartík, Ondřej (referee) ; Veselý, Libor (advisor)
The Master`s thesis deals with the creation and implementation of a servo drive control using the Zedboard platform. The aim of the thesis is to describe the method of Field-Oriented Control of synchronous motor with permanent magnets. The FOC algorithm is implemented by using an automatic IP Core generation for the FPGA in the Zynq-7000 SoC. A printed circuit board is designed to interface the Zedboard platform with a real PMSM servo drive. The designed PCB contains a two-level voltage invertor composed of MOSFET transistors, Hall probes for measuring the current through the motor phases and other elements necessary for the control and feedback of the PMSM motor controlled by FOC and SVPWM algorithm.
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Control of PMSM drive Formula Student
Kavec, Matúš ; Kozovský, Matúš (referee) ; Veselý, Libor (advisor)
This thesis describes the basic function of a vector control of permanent magnet synchronous motors, the operation of a torque-maximizing algorithm that extracts the maximum torque from the current value. It further describes the operation of the field weakening algorithm that allows the motor to spin above a nominal speed. Characteristic curves for a motor with an embedded permanent magnets have been developed in this work. Based on these curves, the various algorithms required for the vector control were developed. The algorithms were created in the Simulink environment, which allows the model to be exported to HDL code and IP cores for a programmable gate array. Functional IP core blocks were connected in the Vivado environment to create the vector control. The resulting design used 49 digital signal processing modules.
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Process control of a distillery
Sejkora, Martin ; Kopečný, Lukáš (referee) ; Veselý, Libor (advisor)
This master‘s thesis deals with the design of a control system for a distillation column. It deals with the issue of distillate production and acquaints the reader with the necessary knowledge that is necessary to understand the purpose of the work. The practical part of the work presents a specific distillation column, the means for its control and the method of implementation of the control system, then the visualization of the control system and the method of control. Part of the work is the evaluation of the results and benefits of the work.
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High frequency signal injection method for PMSM position estimation
Moravec, Vojtěch ; Veselý, Libor (referee) ; Pohl, Lukáš (advisor)
This thesis is focused on the design of vector control of interior permanent magnet synchronous motors. The first part of this work deals with vector control transformations and mathematical modelling of synchronous motors. Furthermore, algorithms of sensorless control are discussed, especially HF injection sensorless methods. One of these methods was used for torque and speed control. Problem of phase delay caused by filters and it’s compensation is also discused. One of the HF injection sensorless method was implemented on both motors. The results of simulations in MATLAB/Simulink and tests of real motors on dSpace are included.
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Control of proportional directional control valves
Hoferek, Martin ; Otava, Lukáš (referee) ; Veselý, Libor (advisor)
The thesis deals with design and implementation of proportional hydraulic valve, which will be integrated to hydraulic system of small hydro in Rájec - Jestřebí. This valve will be used to control one of the wicket gates of double Francis turbine. The thesis is processed for the company Mavel a.s., which is the owner of SH. The goal of this thesis is to create control of the valve according to the client's requirements, its implementation to the control system and commissioning.
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Mobile robot control system
Kalina, Michal ; Veselý, Libor (referee) ; Hynčica, Ondřej (advisor)
This thesis deals with building of two-wheeled mobile robot and consecutive creation of drivers and control for sensors, engines and controller design. The control is based on Arduino platform using ATmega328 processor. Firstly there is in this thesis recherche. Part of this thesis is modelling one where simulation model of our system is created, its linearization and then controller design. Further it contains description of the building robots body, description and functionallity of used engines, description of all sensors and detailed description of available printed circuit board. In the end there is software part where the engines control is described, operation of the sensors and functionallity of the controller. Result of this thesis is function application of controlling and operating of two-wheeled unstable mobile robot.
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MIL real time simulation of electrical motors
Bartík, Ondřej ; Veselý, Libor (referee) ; Blaha, Petr (advisor)
The goal of this thesis is how to implement the two different types of the electric alternate motors in ZYNQ-7000 device for MIL real-time simulation purposes. The chosen types of motors are BLDC motor and AC induction motor. Mathematics models of these motor, the necessary changes for implementation purposes and the way how the models were implemented in ZYNQ-7000 device are described in this work. Three different experimental MIL simulation, using these motors ae described at the end of this thesis.
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Identification of DC motor parameters
Kabelka, Ondřej ; Veselý, Libor (referee) ; Pohl, Lukáš (advisor)
This bachelor´s thesis deals with identification of parameters of the DC motor. An identification program in LabVIEW with data processing in Matlab has been created. After the identification of electrical and mechanical parameters of the motor there are current regulators and velocity regulators designed and implemented in the LabVIEW enviroment as a verification of the correctness of the identification.
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Motion control of an aileron
Kotrlý, Michal ; Kozubík, Michal (referee) ; Veselý, Libor (advisor)
This bachelor’s thesis aims to design, assemble and test an electromechanical model of an aileron with a dual actuator configuration that would verify used control algorithms. Mainly those that mitigate force fight between actuators and reduce mechanical stress affecting lifespan of the aileron. Algorithms are implemented in a PLC which supplies power to actuators/sensors and controls the position and movement of the aileron.
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