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Fixed-wing UAV simulation modeling
Příleský, Libor ; Mašek, Petr (referee) ; Krejsa, Jiří (advisor)
Nowadays number of UAVs is still increasing. If we want to design their autopilot system, we need a simulation model to test and tune our autopilot design. This thesis is about creating such model fo small fixed wing UAV. This thesis contain information how to create the model, which equations to use and what various parameters mean. One of the possibilities is parameter identification from measured data. In later part of this paper is a small research of this topic and implementation of two of them. Virtual model, which is obtained at the end of this work, accomplished its primary goal and was used to initial autopilot design. Implemented identification methods worked as well, but we didn't succeed in upgrading the model parameters due to the defects during the data measurement.
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Assessment of sewerage systems of urban catchments
Velikovská, Kristýna ; Raček, Jakub (referee) ; Raclavský, Jaroslav (advisor)
The bachelor thesis prepares new and present knowledge of assessment of sewerage systems of urban catchments. Theoretical part of the thesis describes classical and contemporary integrated concept of draining waste water from urban catchments. In pursuance of contemporary integrated concept, there is a list of methods, which is used for monitoring conditions of sewer system, making a simulative modeling and solving of elementar tasks in water management. Practical part of the thesis uses gained knowledge to assess sewerage systems of Kladeruby nad Oslavou village. The bachelor thesis is written with respect to valid legislation.
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The Proposal to Improve the Selected Process in the Company
Kunc, Aleš ; Videcká, Zdeňka (referee) ; Varjan, Matúš (advisor)
Bachelor thesis is oriented on analysis of production processes in the company ČeMeBo s. r. o. Through detailed analysis of defined production area the recommendations are offered for potential improvements of current processes. Chosen area is directly supported with simulation model created using computer software Witness. Conceptual model serves author as source of practical experiences with simulation modeling and its verification with real process. This work also concerns modern concepts of production management, information systems and production processes modeling problems.
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Optimization of a Parallel Mechanism Design with Respect to a Stewart Platform Control Design
Březina, Lukáš ; Palčák,, František (referee) ; Čech, Vladimír (referee) ; Singule, Vladislav (referee) ; Malenovský, Eduard (advisor)
Předkládaná práce se zabývá návrhem modelu dynamiky paralelního manipulátoru optimálního pro účely návrhu řízení. Zvolený přístup je založen na modelování dynamiky systému v simulačním prostředí Matlab SimMechanics následovaném linearizací modelu. Výsledný stavový lineární model mimo jiné umožňuje snadné posouzení řiditelnosti a pozorovatelnosti modelu. Díky své relativní jednoduchosti je model také výpočetně nenáročný. Přístup je demonstrován na návrhu dvouvrstvého řízení SimMechanics modelu Stewartovy platformy, na kterém bylo následně navržené řízení úspěšně testováno. Podstatná část práce obsahuje přístup k modelování neurčitých parametrů dynamického modelu Stewartovy platformy a stejnosměrného motoru Maxon RE 35 a jeho výsledky. Předložený přístup je založen na modelování parametrické neurčitosti způsobem, kdy je neurčitost definována individuálně pro jednotlivé prvky stavových matic modelu. Samotná neurčitost je potom určena rozdílem mezi jednotlivými parametry příslušných matic nominálního modelu a modelu se stanovenou maximální neurčitostí parametrů. Výsledný neurčitostní model je vzhledem ke své stavové reprezentaci vhodný pro návrh regulátoru založeném na metodách návrhu robustního řízení, například minimalizaci normy H-nekonečno. Popsaná metoda byla použita pro kompenzaci posunu mezi pracovními body, okolo kterých je prováděna linearizace a pro kompenzaci nepřesnosti modelování vybraných parametrů modelů Stewartovy platformy a stejnosměrného motoru. Získané modely (v prostředí SimMechanics a neurčitostní model) byly experimentálně porovnány s chováním jednoho z lineárních pohonů Stewartovy platformy. Rozdíl v datech obdržených ze simulace v prostředí SimMechanics a naměřených na reálném stroji byl téměř kompletně pokryt neurčitostním modelem. Prezentovaná metoda neurčitostního modelování je velice univerzální a aplikovatelná na libovolný stavový model.
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Fixed-wing UAV simulation modeling
Příleský, Libor ; Mašek, Petr (referee) ; Krejsa, Jiří (advisor)
Nowadays number of UAVs is still increasing. If we want to design their autopilot system, we need a simulation model to test and tune our autopilot design. This thesis is about creating such model fo small fixed wing UAV. This thesis contain information how to create the model, which equations to use and what various parameters mean. One of the possibilities is parameter identification from measured data. In later part of this paper is a small research of this topic and implementation of two of them. Virtual model, which is obtained at the end of this work, accomplished its primary goal and was used to initial autopilot design. Implemented identification methods worked as well, but we didn't succeed in upgrading the model parameters due to the defects during the data measurement.
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The design of software modules to control automatic tool change
Habán, Tomáš ; Holub, Michal (referee) ; Bradáč, František (advisor)
The presented work is concerned in system of automatic tools change for machining centers. The theoretical part of this diploma work is about basic distribution. The following practical part includes mathematical description of testing stand of systems of automatic tools change STD – 25. In next step the dynamic model of this mechanism and model of servomotor is realized using simulating environment as Matlab/Simulink. The simulation of designed model of complete system is optimized in aspect of rate of change. The obtained values of servomotors performance are compared for various loads of exchange arm at the appropriate times of change. The last section briefly describes other possible alternative solution of similar dynamic systems using connection of software SolidWorks and NI LabView.
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Design of linear internal excitation drive with oscillative motion
Kramář, Ondřej ; Kalous,, Jaroslav (referee) ; Singule, Vladislav (advisor)
This thesis deals with design of linear internal excitation drive with oscillative motion. Here is shown the survey area of linear drives, as well as the field of patents which are involved in this issue. This work is proposed specific conception of linear internal excitation drive with oscillative motion which is verified by simulation of dynamic behavior and for which is also proposed a control. Design of linear internal excitation drive with oscillative motion, that meet the specified input parameters is a goal of this thesis.
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Simulation modelling of VNT mechanism kinematics
Zelda, Jan ; Březina, Lukáš (referee) ; Hadaš, Zdeněk (advisor)
This thesis deals with the modeling of kinematics VNT Turbocharger mechanism. In the first part, there is a general overview of supercharging combustion engines, search optimization methods and overview of the types of simulation models. Creating a simulation model and performing sensitivity analysis of each part follows. The final part of the thesis reflects the impact of clearance in the joins of the mechanism.
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Test of Vibration Power Generator with Longitudinal Coil
Stejskal, Jan ; Březina, Lukáš (referee) ; Hadaš, Zdeněk (advisor)
This thesis deals with activation and testing of Vibration Power Generator with Longitudinal Coil which was designed at Brno University of Technology. One of goals of the thesis is to compile simulating model of this device and to compare its results with data gained from measuring device used while testing on the vibration stand. This Vibration Power Generator could be theoretically used in aerospace industry as well as in other branches of industry. It´s important to minimalize its dimensions and weight as much as possible. On the other hand, there are some parameters which should stay unchanged with respect to troublefree work of the device. According to those facts, some changes of construction were proposed within this thesis.
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