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Self-Driving of a Model Car
Hazucha, Ivan ; Šimek, Václav (referee) ; Bidlo, Michal (advisor)
The aim of this thesis is to demonstrate options for self-driving model cars, focused on local path planning methods and obstacle avoidance. As a part of the project, the model was supplemented by a computing platform Raspberry Pi and appropriate sensors. Specifically, a 2D LiDAR sensor was used for detection and measuring the distance of surrounding objects, an incremental rotary encoder for measuring the distance travelled and current speed, and a gyroscope to keep track of the vehicle's relative orientation. Subsequently, a control system was implemented. This system is able to receive and process sensor data, use it to estimate vehicle's current location, compute an optimal trajectory in an uncharted environment, and control the vehicle's actuators accordingly. The result is a functional model car able to navigate in an unknown environment and reach specified goals by following a trajectory, dynamically generated depending on the surrounding obstacles.
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Algorithm for Reduction of Force Fight on Airplane Control Surface
Szásziová, Lenka ; Klusáček, Ondřej (referee) ; Tomáš, Jan (advisor)
Digitální Fly-by-Wire systém je novým přístupem k řídícímu systému letadla, na jehož základě firma Honeywell - HTS CZ začala výzkumný projekt s názvem “Next Generation Distributed Fly-by-Wire System” a tato práce je jeho součástí. Řídící plochy letadla jsou řízeny dvěma nebo třemi elektrohydraulickými (či elektrickými) servy a každé servo je ovládáno nezávislou řídící jednotkou. Díky provozním tolerancím systému a drobným odchylkám vstupních dat v řídících jednotkách, dostává každé servo mírně odlišné povely a rozdíl v poloze serv vede k namáhání řídící plochy i k namáhání serv. Hlavním cílem této práce je navrhnout algoritmus, který bude eliminovat rozdíly mezi polohami jednotlivých serv, a tudíž sníží sílu, která namáhá řídící plochu, na přípustnou mez. Implementace řídícího systému letadla byla do detailu analyzována a algoritmus redukce síly na kontrolní ploše letadla byl navržen a implementován v prostředí Simulink. Iterační kriteriální ladící metoda byla vyvinuta a za účelem co nejlepšího nastavení algoritmu redukce síly. Práce také analyzuje vliv časových zpoždení na sběrnici na kvalitu algoritmu redukce síly.
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Performance, robustness and implementation of controllers
Buchta, Luděk ; Michal, Mrázek (referee) ; Pivoňka, Petr (advisor)
This master‘s thesis deals with the design of modern process control algorithms suitable for SISO industrial control equipments. In this thesis the analysis of the controller design methodology using Mixed-sensitivity function is described. This method consists in shaping frequency characteristics of the sensitivity function and complementary sensitivity fiction using the weighting functions. The proposed H controllers are compared with the classical structure of a discrete PID controller with filtered derivative part. The proposed controllers are compared in terms of robustness, performance, complexity of the design and requirements necessary for their practical application (anti-windup, smooth switchover). Robustness of the controller is evaluated on the basis of modulus stability margin. Estimation of model´s parameters is solved least-square method. The proposed control system consists of an industrial PC and Automation Panel from the company B&R, decentralized system I/O and the real plant. Visualization for control workplace was created in the program Automation studio. This visualization is used to the easy transfer of information from a controlled process.
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Multiparameter circulating pump driver
Pazour, Zbyněk ; Frýza, Tomáš (referee) ; Kratochvíl, Tomáš (advisor)
This master’s thesis deals with design of the regulation of a circulating pump in a solar system for heating of supply water and design of the regulator for this system. It describes a fundamental principle and layout of a regulated circuit of a heating system. Description of regulation, basic terms, properties and differences between different types of regulation are described in first part of the master’s project. Especially continuous (PID regulator) and discrete (PSD regulator) regulation are presented. Second part of the master’s project is focused on a conceptual design of the circulating pump regulator. The connection system of each part, selection conditions of components and connection scheme of regulator are described. The third section deals with design of controlling algorithm of the regulator. There is a detailed description of libraries and functions in each chapter which were used in programming of PSD regulator algorithm. The regulated system of a solar collector is described at the end of the work. This system is being developed for real testing and setting of regulator.
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Controller of three-axis nano-metric manipulator
Pernica, Lukáš ; Jedlička, Petr (referee) ; Drexler, Petr (advisor)
This diploma thesis describes the piezoelectric phenomenon and its use for positioning with nanometric precision in laboratory use. In the thesis is description of direct and indirect piezoelectric phenomenon, various types of piezoelectric actuators and ways of their control with the aim of eliminating their hysteresis. The goal is to design a controller for piezo actuator built in the three-axis nanometric manipulator Thorlabs MAX341/M.
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Design, production and testing of education model "Watt's regulator"
Janoš, Petr ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
In the thesis I deal with design, production and testing of laboratory education model "Watt‘s regulator". This work considers different solutions of construction and especially the role of sensors. I assess positives and negatives of each solution. In addition, I describe design and implementation of electronics and wiring for the communication with a PC via control card Humusoft MF624. Using the MATLAB-Simulink and its extensions Real Time Toolbox 4.0 I make the proposal of PID regulator based on Ziegler – Nichols method.
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Thermostatic valve testing device
Rybařík, Ladislav ; Štětina, Josef (referee) ; Hejčík, Jiří (advisor)
The focus of this Master’s thesis is on designing a device for testing the mechanical endurance of thermostatic valves according to the EN215 standard. The endurance tests under the influence of torque and bending moment are the main probléme it deasl with. The thesis contains engineering design of the testing device and it also includes mechanical drawings, design of sensors and measuring algorithm. The design of a water circuit used for water conditioning for the trstiny device is also included.
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Development of Platform for Three-Rotor Helicopter
Votava, Martin ; Rozman, Jaroslav (referee) ; Hájek, Josef (advisor)
The goal of this master's thesis is design and built of platform for three-rotor helicopter development. The helicopter is also known as tricopter. Theoretical part describes principle of tricopter's flight and stabilization. There is also described basics inertial navigation system and sensors which are required for correct functionality. Practical part is dedicated to development of tricopter's frame, schematics diagram, communication between subsystems and stabilization system development. Flight stablization system is base on ATmega128A an using PID Controller. In the end is described testing of developed platform.
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