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Real-time Control of Ball on Wheel Model
Krejčí, Roman ; Otava, Lukáš (referee) ; Hynčica, Ondřej (advisor)
This diploma thesis deals with control the Ball on the wheel system in real time. In the first part there is made mathematical model of system, which is described by state equations. Then the laboratory model of Ball on the wheel system and its parts are described. The laboratory model consists servo drive, servo amplifier, microcontroller with real-time operating system and distance sensors. In the practical part of the thesis there is designed control of system by linear quadratic regulator and its implementation with control peripherals into microcontroller with real-time operating system. Ball on the wheel system is controlled by microcontroller, which sends a commands to servo amplifier by CAN bus.
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Control of BLDC motor at LabVIEW
Bulín, Tomáš ; Pazdera, Ivo (referee) ; Huzlík, Rostislav (advisor)
The aim of my thesis is to become familiar with the program LabVIEW, CompactRIO platform and features it offers to control BLDC engine. A comprehensive program from National Instruments LabVIEW is used in a wide range of industrial applications ranging from measurement of electrical signals, data collection, automation of the measurement, to the control of various engines and applications. In addition, the program renews itself every year and as each new version comes with many new enhancements that improve its functionality even more. It use to actual control the CompactRIO platform, in which is loaded a program created to control the application. The main advantage is that the user has the option to modify the program according to their needs and he don’t have to send his applications to the manufacturer for each change in the source code of control program. CompactRIO caters to not only control your own applications, but is also able to measure the values needed to run the program.
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6 Axis Manipulator Control
Semrád, Michal ; Chromý, Adam (referee) ; Hynčica, Ondřej (advisor)
This master thesis discusses about designing and realization of a control system for a 6-axis robotic arm. The controlling system consist in a microcontroller LPC1756 with its firmware implemented under the Real-time operating system FreeRTOS and GUI application, running on a PC. The Microcontroller communicates with the PC through a serial line via SLIP protocol. Theoretically, it will deal with an explanation of the important terms, and describes the used robotic arm and its controlling unit. The practical part describes kinematics problems solving, firmware’s realization and GUI application.
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Real-Time Operating System with Fixed Task Priority for Raspberry Pi
Kolář, Josef ; Peringer, Petr (referee) ; Janoušek, Vladimír (advisor)
The main goal of this work is to create a support for an open-source real-time operating system on the computer Raspberry Pi 3B+. The project FreeRTOS is selected as a great candidate for further work. The runtime environment and support for user-space applications are presented. Two demonstration applications serve as proofs of support, the first one uses two periodic tasks and reports their state to the serial interface. The second demonstration application runds the same periodic tasks, but reporting the state is done using the CAN bus, for which is the driver realised. The result of this thesis is a working system FreeRTOS for Raspberry Pi 3B+ computer with support for time-critical usages.
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Detecting RTOS Runtime Anomalies
Arm, Jakub ; Jalovecký, Rudolf (referee) ; Blecha, Petr (referee) ; Bradáč, Zdeněk (advisor)
Due to higher requirements of computational power and safety, or functional safety ofequipments intended for the use in the industrial domain, embedded systems containing areal-time operating system are still the active area of research. This thesis addresses thehardware-assisted control module that is based on the runtime model-based verificationof a target application. This subsystem is intended to increase the diagnostic coverage,particularly, the detection of the execution errors. After the specification of the architecture,the formal model is defined and implemented into hardware using FPGA technology.This thesis also discuss some other aspects and embodies new approaches in the area ofembedded flow control, e.g. the integration of the design patterns. Using the simulation,the created module was tested using the created scenarios, which follow the real programexecution record. The results suggest that the error detection time is lower than usingstandard techniques, such a watchdog.
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Real Time operating system in LabVIEW - LabWINDOWS/CVI
Povolný, Petr ; Bejček, Ludvík (referee) ; Čejka, Miloslav (advisor)
The aim of this theses is to make user acquinted with programming of real time applications in LabVIEW and LabWINDOWS/CVI environment. The introduction outlines basic properties and parametres of operating systems. Key requirements of real time operating systems are discussed here. Their basic concept is described, focusing on VxWorks operating system and comparison with deterministic properties of common MS Windows operating system. In the second part, there is a brief specification of LabVIEW and LabWINDOWS/CVI environment and a description of real time applications built up in these environments. The final part of this theses proposes a system for analog data acquisition for checking on deterministic properties of real time application and applications built up on MS Windows.
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Real Time operating system in LabVIEW - LabWINDOWS/CVI
Povolný, Petr ; Beneš, Petr (referee) ; Čejka, Miloslav (advisor)
The aim of this theses is to make user acquinted with programming of real time applications in LabVIEW and LabWINDOWS/CVI environment. The introduction outlines basic properties and parametres of operating systems. Key requirements of real time operating systems are discussed here. Their basic concept is described, focusing on VxWorks operating system and comparison with deterministic properties of common MS Windows operating system. In the second part, there is a brief specification of LabVIEW and LabWINDOWS/CVI environment and a description of real time applications built up in these environments. The final part of this theses proposes a system for analog data acquisition for checking on deterministic properties of real time application and applications built up on MS Windows.
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Mechanical manipulator controlled from the cRIO platform
Karásek, David ; Šedivá, Soňa (referee) ; Havránek, Zdeněk (advisor)
This bachelor thesis is about designing and creating control software for 2 D mechanical manipulator. This device consists two translational actuators and one rotational actuator. At theoretical part author discuss possible hardware solutions and talks about basic terms used in practical part. Practical part is about designing main control application. Final program is fully functional, at the end of this thesis the author suggests some improvements which could be done to the program.
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Control of BLDC motor at LabVIEW
Bulín, Tomáš ; Pazdera, Ivo (referee) ; Huzlík, Rostislav (advisor)
The aim of my thesis is to become familiar with the program LabVIEW, CompactRIO platform and features it offers to control BLDC engine. A comprehensive program from National Instruments LabVIEW is used in a wide range of industrial applications ranging from measurement of electrical signals, data collection, automation of the measurement, to the control of various engines and applications. In addition, the program renews itself every year and as each new version comes with many new enhancements that improve its functionality even more. It use to actual control the CompactRIO platform, in which is loaded a program created to control the application. The main advantage is that the user has the option to modify the program according to their needs and he don’t have to send his applications to the manufacturer for each change in the source code of control program. CompactRIO caters to not only control your own applications, but is also able to measure the values needed to run the program.
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