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Hybrid dynamic systems- analysis and modeling
Holub, Libor ; Findura, Milan (referee) ; Vavřín, Petr (advisor)
In this thesis the issue with the description, modeling and analysis of hybrid dynamic systems is solved. The main goal is to select appropriate method for solving hybrid dynamic systems and to aim to question on solving controllability, observability and stability of these systems. Two types of hybrid systems are covered in this work. In the first part, the description and simulation of hybrid systems that are compiled of continous and discrete parts with the systems of discrete affair are specified. For the description and modeling of hybrid automata and hybrid Petri nets have been used. The possibilities mentioned above are showned on the simple examples. Second part of this work covers the description, modeling and analysis of hybrid systems that are compiled of links continous and discreate dynamic system. The state space has been used. The universal state equations are mentioned and have been used for the description of the hybrid system and the structure of the matrixes A, B, C, D. The relation and basic method are spin off for the analysis of hybrid dynamic systems. From the analysis point of view, these are general methods for the controllability, observability, stability and steady state of hybrid dynamic systems. The examples of hybrid control systems for mentioned methods are specified. If it is allowed, the results are verified by the simulation in MATLAB Simulink background.
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Dynamics of Snake Robots
Kubiena, Jaromír ; Doupovec, Miroslav (referee) ; Návrat, Aleš (advisor)
In this thesis, we deal with the mathematical description of the kinematics and the dynamics of mechanical systems. Then we focus on the particular mechanical system which is the Square robot with four legs with active joints and passive wheels, which moves on horizontal plane. The kinematics of the mechanical system is described by the control matrix, then we use it to express the equations of motion. We compute the dynamics the robot by using Lagrange equations. We verify that the mechanical system is nonholonomic constrained and we verify controllability by using Lie bracket and distribution. We find the singular postures of the robot.
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Driving comfort
Plánka, Jakub ; Blaťák, Ondřej (referee) ; Vančura, Jan (advisor)
The bachelor thesis describes characteristics of ride comfort. Defines methods to evaluate ride comfort and proposes appropriate value for measurement. Thesis Describes parts of vehicle which contributes to overall driving comfort and formulates factors affecting vehicle in motion.
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Solution of inverse problems in the area of material and heat exchangers
Kůdelová, Tereza ; Nechvátal, Luděk (referee) ; Čermák, Jan (advisor)
This bachelor's thesis deals with the dynamic behavior of heat exchangers which is described by the system of dierential equations. In this conection it includes a general information about necessary theoretical background especialy concerning heat transfer. Further, it mentions also the basic types of arrangement of heat exchangers that may occur in practice. The main goal is to answer the questions of controllability, observability and identifiability of the parameters obtained by solving corresponding inverse problem.
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