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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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Sensorless control of BLDC motor
Križan, Jakub ; Toman, Jiří (referee) ; Grepl, Robert (advisor)
This thesis is focused on problematics of control of brushless DC motor in the sensor and also in the sensorless mode. Also it interprets possibilities of BLDC motor control with one faulty sensor and derivation and simulation of mathematical model. First part mentions options of rotor position sensing as well as existing methods of sensorless BLDC motor control. Second part describes control algorithms of sensor and sensorless motor control realised on device dSPACE and also realisation of faulty sensor control algorithm. Third part deals with derivation of mathematical model, its realisation using Matlab Simulink software and identification of its parameters. Last part concludes results and compares control methods used on the real system.
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Modelling, identification and control of rotary pendulum
Klusáček, Ondřej ; Ondrůšek, Čestmír (referee) ; Grepl, Robert (advisor)
The diploma thesis deals with control of rotary inverted pendulum - Furuta pendulum. Solution for power electronics, sensors and coupling with PC is described, identification of parameters and nonlinear simulation model in Matlab/Simulink and SimMechanics toolbox is presented. Second type Lagrange equation is used for determination of equations of motion. Controll system based on state-space model of mechanism and LQR algorithm for design of state-space controller is used and switching between swing-up cotroller a stabilizing state-space control is achieved according to actual angular position of pendulum's angle. Input integrator eliminating steady state error was used with success.
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Parameter identification of the asynchronous machine substituting circuit
Otýpka, Jan ; Běloušek, Josef (referee) ; Patočka, Miroslav (advisor)
This work deals the precise identification of the substituting circuit parameters of the asynchronous machine for the gama-network, inverted Gama-network, T-network. I make use the best identification of the substituting circuit parameters of the asynchronous machine experimental method, theoretical procedurs and konstruction dates. In this work I solve various methods of identification and i compare solving like construction moment's characteristics from these establishen parametrs. Further I'm solving in my work comparations of two the costruction of them is similar with asyhronous mashins with power of 2,2kW , 2p = 2.
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Identification of AC induction motor parameters
Křížek, Tomáš ; Václavek, Pavel (referee) ; Blaha, Petr (advisor)
This thesis describes and realizes (in program Matlab/Simulink and in the microcontroller Freescale 56F8346) one off-line identification method of AC Induction motor parameters which are necessary to implement the field-oriented control strategy. The identification metod identify leakage inductance, magnetizing inductance and secondary time constants. The presented method is evaluted, advantages and disadvantages of this method are evaluated with reference to their possible use in real-machine. The experimental results and schemes which are presented demonstrate the feasibility methods. The thesis is dividend in seven chapters. Second chapter describes the basic principle and model AC induction motor. Third chapter generally describes identification methods. Fourth, fifth and sixth chapters deal with method which is based on a previous work of the authors [4] and [5].
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Additional axial stress of rubber cylinder at torsion deformations and large strains
Šulc, Petr ; Pešek, Luděk ; Bula, Vítězslav ; Cibulka, Jan ; Košina, Jan
The paper deals with a stress analysis of hard rubber under large torsion deformations. This study was motivated by effort to enhance the theoretical background for experimental evaluation of material behaviour of hard rubbers on our test rig. First the Mooney Rivlin model (MRM) for shear case of loading was developed and then MRM constants were attained by fitting of the MRM to the experimental torsion-deformation curve. Then the tuned MRM cylindrical model was tested under torsion loading for evaluation of stress state. Besides the radial distribution of shear stress and strain the attention was paid for evaluation of additional axial stresses. It helps to assess the influence of the tension stresses on the tangential deformations of the test sample during large torsion strains.
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Stress analysis under torsion loading hard rubber for a large deformation and hyperelastic behaviour
Šulc, Petr ; Pešek, Luděk ; Bula, Vítězslav ; Cibulka, Jan ; Košina, Jan
The paper deals with a stress analysis of hard rubber under large torsion deformations. This study was motivated by effort to enhance the theoretical background for experimental evaluation of material behaviour of hard rubbers on our test rig. First the Mooney Rivlin model (MRM) for shear case of loading was developed and then MRM constants were attained by fitting of the MRM to the experimental torsion-deformation curve. Then the tuned MRM cylindrical model was tested under torsion loading for evaluation of stress state. Besides the radial distribution of shear stress and strain the attention was paid for evaluation of axial stresses. It could help to assess the influence of the tension stresses on the tangential deformations of the test sample during large torsion.
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