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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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Model of electric furnance for heat-resistant material processing
Franek, Lešek ; Malounek, Petr (referee) ; Dvořáček, Martin (advisor)
Content of the document is to create model of kiln, compare result with the real kiln. There is described 3D design in SolidWorks application, creation of a physical model in COMSOL Multiphysics and its export to Simulink. Subsequently is described the Simulink scheme, functions of program parts and visualization in B&R Automation Studio. The obtained results are compared with measured values. There is also described the design of a controller with a off-line identification.
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Microcontroller based temperature controller
Perůtka, Martin ; Fiedler, Petr (referee) ; Bradáč, Zdeněk (advisor)
The aim of the work was to design and carry out a microprocessor driven temperature controller which will be operated by PC or immediately by its own control panel. The controller should serve, for example, as a regulation of temperatures in rooms, in ovens where electrical energy is used for heat production. This controller is able to measure temperature through connected temperature sensors, which means a thermistor PT1000 and a thermocouple type K, and to regulate temperature by the help of a heating body connected to the power output part of the controller.In this piece of work there is an issue of temperature measuring by the help of thermocouples and thermistors analysed, there are also mentioned the means of controlling and switching of alternating electrical tension for power operating and analysis of an issue of device connection and communication by the help of RS232 interface and USB with PC. The work also deals with a design of PSD controller with its subsequent realisation. The controller is tested on a micro-condensational siccative oven developed for the UTB research in Zlín.
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Thermostat for measuring passive component controlled of AVR
Demjanics, Ferenc ; Koňas, Petr (referee) ; Roubal, Zdeněk (advisor)
The aim of this work is to familiarize with the design of the thermal test chamber to measuring passive components. Show features and involvement of selected circuits that ensure reliable operation of the device. For the realization of the role are the most important the Peltier cells and temperature sensors. But they can not work without the control unit. The control unit provides the necessary communication with each component and also with user. For this purpose we made a selection of suitable type of microcontroller and communication equipment (matrix keypad, LCD, buttons and LEDs). Subsequently was designed the algorithm to control the thermostat suitable for using in students training. The algorithm was written in the microcontroller in form of a program. There is also implemented a PSD controller in the program, which evaluates the data collected by a sensor. Then set the correct function of Peltier cells. After the thermostat was designed and realized, test measurements were performed and the results were documented and evaluated.
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Comparative analysis of discrete PID controllers
Pála, Matěj ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
Bachelor’s thesis deals with an analysis and complex comparsion of different structures of discrete variants of PID controllers related to testing at determined simulation and real models. In the first, theoretical, part are described different structures of discrete PSD controller. Also the Ziegler-Nichols method for determining parameters of these controllers is mentioned as the describe of B&R company used controller too. The second part of this thesis is focused on testing at determined models. In this part, there are stated results of comparison different structures of discrete variants of PID controller also as results taken with B&R company controller.
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Robotic Shopping Cart
Kuřátko, Jiří ; Beran, Vítězslav (referee) ; Materna, Zdeněk (advisor)
This bachelor’s thesis deals with the project of application about planning the robot’s movement in order to follow the specified person. At the beginning of the work, the Microsoft Kinect sensor which is used for sensing nearby objects is described. Hereinafter the possible methods how to identify human figures on the basis of depth data from the Microsoft Kinect sensor are discussed as well. The reader is also familiar with the methods determining the direction of arrival of acoustic signals. Last chapters of the work are dedicated to the motion control of the robot. Finally the complete implementation of the robot software for the platform of Robotic Operating System (ROS) is described.
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Self-tuning control of electric motor
Havlíček, Jiří ; Blaha, Petr (referee) ; Pohl, Lukáš (advisor)
The diploma thesis deals with the self-tuning PSD controllers. The parameters of the model are obtained by a non-recurring method of least squares. With the assistance of the Matlab/Simulink programme, the individual processes of the PSD controller are compared on a second order system. In the thesis, a simulation of the self-tuning cascade control of PMSM‘s current and speed loop is created. The following part of the thesis covers the implementation of individual algorithms on the dSPACE platform for the real PMSM.
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Comparison of PID controllers
Prosecký, Jan ; Veselý, Libor (referee) ; Dokoupil, Jakub (advisor)
The work deals with the issue of selecting a suitable discrete PSD controller. The basic types of continuous PID controllers and discrete PSD controllers are shown here. Next, the solution of system identification using Matlab/Ident is described. The tested PSD controllers were a position PSD controller, a PSD controller with differential component filtering and a Beta PSD controller, which was in the settings of the S-PD controller and the PS-D controller. The following methods were used to set the controllers: Ziegler-Nichols, Quadratic integral criterion, experimental settings using the distribution of poles and zeros in the Bode diagram through the Matlab program and the optimal modulus method. Individual controllers are compared by the Matlab/Simulink program in the Automation studio.
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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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