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Stabilization of macroscopic particle in optical trap
Mlynář, Vojtěch ; Matěj, Zdeněk (referee) ; Brablc, Martin (advisor)
Cílem této práce je implementace a otestování algoritmů pro zpětnovazební stabilizaci částice v optické pasti. Tyto algoritmy jsou implementovány v programovatelném hradlovém poli Red Pitaya STEMlab 125-14 s využitím automatického generování kódu z modelů v programu Simulink. V práci je popsán fyzikální základ řízeného systému, jeho návaznost na teorii Kálmánova filtru, detaily implementovaných algoritmů v FPGA a procedury využité pro odhad parametrů. Implementované algoritmy byly úspěšně otestovány na reálné sestavě a výsledky jsou ukázány v závěru práce.
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Control of Linear Inverted Pendulum Exhibition Model
Vávra, Patrik ; Sova, Václav (referee) ; Brablc, Martin (advisor)
The main aim of this bachelor thesis is to create robust linear inverted pendulum control. After system identification comes the creation of regulators from which the most suitable is chosen for the final control of the pendulum. Another point of thesis is to develop a swing-up controller that takes care of swinging the pendulum into an unstable position and swing-down controller to stabilize the pendulum as quickly as possible in a stable pendulum position. The following sections of the thesis include the design of the control structure, safety measures and evaluation of the performed testing.
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Research of Methods for Significant Accereation of Parameter Estimation of Simulation Models
Appel, Martin ; Opluštil, Vladimír (referee) ; Křivánek, Václav (referee) ; Grepl, Robert (advisor)
The thesis focuses on achieving a significant speed-up in the estimation of simulation model parameter values. This is achieved through the appropriate choice of a solver that is computationally less demanding, but at the same time has an acceptable error in the range of parameter values, through the use of distribution of computations on parallel threads, heuristic methods for reducing the space of parameter values, and modification of optimization methods. In this thesis, the research related to the objectives of the thesis is first discussed, then the exact objectives of this thesis are stated and the implementation of each objective is described in separate chapters. The results of this thesis include a tool used to analyze solver choice, an analysis of parallel thread efficiency, a parallel simulation distribution tool, nine modified optimization methods, and a new tool for estimating parameter values. Finally, the results obtained are evaluated.
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Ladění parametrů LQG řízení pomocí evolučních metod
Marton, Filip ; Brablc, Martin (referee) ; Grepl, Robert (advisor)
This master thesis deals with the design of evolutionary algorithms to optimize LQG control of two laboratory models. It also deals with the creation of simplified models used to describe real models and with the subsequent estimation of their parameters. After this section it deals with optimization of control parameters with the use of simplified models, testing the control on laboratory models and summarizing the results of controlling the models.
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Hybrid Method for Modelling and State Estimation of Dynamic Systems
Brablc, Martin ; Blaha, Petr (referee) ; Bugeja, Marvin (referee) ; Grepl, Robert (advisor)
Tato Disertační práce se zabývá vývojem nové hybridní metody pro současné odha- dování stavů a parametrů nelineárních dynamických systémů, založené na myšlence lokálních lineárních modelů, která využívá odhad nejistoty parametrů modelu pro automatické nastavení některých parametrů Kalmanova filtru (KF), čímž se výrazně zjednodušuje její nasazení a nastavení v praktických aplikacích. V první části se disertační práce věnuje shrnutí aktuálního stavu poznání v oblasti dynamických systémů, simultánní estimace, KF a modelování nelineárních dynamických systémů. Následně se ve dvou samostatných kapitolách věnuje modifikaci KF pro situace, kde dominantním vlivem způsobujícím procesní šum jsou nepřesné parametry modelu, a dále modifikaci metody Receptive field weighted regression (RFWR) tak, aby mohla být použita pro duální estimaci. Nakonec práce popisuje vyvinutou hybridní metodu složenou z modifikovaných algoritmů RFWR a KF nazvanou Receptive field dual estimation - (RFDE) a demonstruje její funkčnost na simulačních i reálných datech.
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TESTING THE METHOD OF MULTIPLE SCALES AND THE AVERAGING PRINCIPLE FOR MODEL PARAMETER ESTIMATION OF QUASIPERIODIC TWO TIME-SCALE MODELS
Papáček, Štěpán ; Matonoha, Ctirad
Some dynamical systems are characterized by more than one timescale, e.g. two well separated time-scales are typical for quasiperiodic systems. The aim of this paper is to show how singular perturbation methods based on the slow-fast decomposition can serve for an enhanced parameter estimation when the slowly changing features are rigorously treated. Although the ultimate goal is to reduce the standard error for the estimated parameters, here we test two methods for numerical approximations of the solution of associated forward problem: (i) the multiple time-scales method, and (ii) the method of averaging. On a case study, being an under-damped harmonic oscillator containing two state variables and two parameters, the method of averaging gives well (theoretically predicted) results, while the use of multiple time-scales method is not suitable for our purposes.
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New Hybrid Methods for Robust and Automated Parameter Estimation of Mechatronic Systems
Najman, Jan ; Štefek, Alexandr (referee) ; Opluštil, Vladimír (referee) ; Grepl, Robert (advisor)
The thesis deals with the development of a new hybrid optimization algorithm for mechatronic models. The introductory chapters are devoted to a general description of the problem of estimating unknown system parameters, based on the developed mathematical model and measured data. Furthermore, an overview and a brief description of available optimization algorithms that are suitable for solving this type of problem is given. Based on the research study, the specific objectives of the paper are then formulated. In the second part of the thesis, a newly developed set of mechatronic models created using physical modelling tools is described. Subsequently, a comparative test of the speed and success rate of the selected optimization algorithms is performed using these models. Based on the results of this test, the design of a new hybrid algorithm is proposed, which is then tested and compared with the other algorithms. Finally, several new auxiliary functions and tools are presented to detect and analyze improperly designed parameter estimation problems.
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