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Sensorless velocity control and positions of d.c. low-power brush motor
Svoboda, Jan ; Hanák, Pavel (referee) ; Prajzner, Václav (advisor)
This bachelor's thesis focuses on sensorless control of low load brushed DC motor that is used in the actuators made by the Honeywell company. The first part provides an introduction into motor control and common used methods of speed and position sensing of brushed DC motor. Sensorless method of sensing described in this work is the detection of commutation pulses from the signal of motor current. These pulses are caused by brushes leaping over the commutator bars. Correct evaluation of commutation pulses can provide the information about velocity and position of the motor. This relatively new method of detection of commutation pulses is investigated and arising problems are demonstrated on measured samples of signal. Suitable methods of signal processing are then proposed. Infallibility of these signal processing methods is then proved on the set of signals measured under circumstances of supply voltage and abrasion. Then it is decided which signal processing method that sensorless control system can use is the best.
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Universal drive unit
Sehnálek, Lubomír ; Frýza, Tomáš (referee) ; Fedra, Zbyněk (advisor)
This document deal with design of universal driving unit. For the final solution is required driving unit which will be controled with help of sensory unit placed on the chassis of driving unit. In theoretical part of this labour are examined possibilities of a power, electric motor operation by PWM, kind of chassis and odometry which could be taken into account. From this section is finally chosen concrete configuration which is then described in chapter concerned oneself with driving unit design. Construction of equipment is shown in next chapter where final configuration of equipment is described.
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Design of a Body and Sensor System of a Robot
Marvan, Aleš ; Drahanský, Martin (referee) ; Orság, Filip (advisor)
This thesis deals with a problematic of mobile robot design. There is proposed a design and realization of a mobile robot intended for an international competition - Minisumo. The first step in the development process is collecting of information, which helps us to find the most suitable elements. The next step is choosing of the individual elements fulfilling the design requirements according to their specification.
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Design and Construction of a Two-Wheel Mobile Robot
Meisl, Milan ; Drahanský, Martin (referee) ; Orság, Filip (advisor)
This diploma thesis deals with a design and construction of a two-wheeled mobile robot. In order to prepare a high-quality project, a testing carriage has been constructed serving as a basis of useful information for the final design and construction. Beside introduction and conclusion, the diploma thesis consists of four main parts. While the first part of the thesis briefly introduces the field of robotics, the theoretical part focuses both on particular components necessary for the robot's construction as well as the Segway vehicle which served as an inspiration for the robot's functionality. After characteristics of a testing carriage, attention is devoted to individual methods of stabilization, with several different types of sensors being used. Furthermore, the chapter on mechanical design examines choice of devices and their position and provides a scheme for their construction. The electrical design follows afterwards, describing circuits that were considered optimal for the designed wiring. The forth part of the diploma thesis concentrates on the construction of a two-wheeled carriage and covers following topics: construction of mechanical components, production of electric boards, programmatic equipment of the carriage and its implementation, testing of the carriage and finally also an evaluation of achieved results.
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Design and Construction of Your Own Robot Chassis
Janečka, Jan ; Hájek, Josef (referee) ; Drahanský, Martin (advisor)
This diploma thesis deals with the study of different robotic chassis types, their properties and selected types of sensors, including their characteristics. Furthermore, the design and implementation of my own robotic chassis is presented. This robotic chassis was realized and all plans and production drawings are presented in my thesis. The software ( rmware) for the control of my robotic chassis, including obstacle avoidance, is described in detail. The following chapter deals with tests of my chassis in various situations. The maximal and minimal limits of the realized robotic chassis are discussed in the final chapter.
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Laboratory model of an machine for printed wiring
Posekaný, Jan ; Kaczmarczyk, Václav (referee) ; Zezulka, František (advisor)
Production of printed circuit boards using three-axis CNC milling machine is suitable for small batch production. Milling machine consists of three axes, which are controlled by stepper motors. Controlled by a PC connected to the control electronics to communicate over the serial line. Input data is exported from the Eagle design software. The core of the control unit´s processor family, the AVR ATmega16, motor drivers for the ATmega8. Transfer between PC and the device is implemented using a virtual person through USB.
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Design of control unit for two-wheeled self-balancing vehicle
Bastl, Michal ; Klimeš, David (referee) ; Chalupa, Jan (advisor)
This diploma thesis is a part of a project of two students. The aim of the project is to design safer electronics for the unstable balancing vehicle HUMMER and implementation of advanced diagnostics and fault detection. In the first part of the project we analysed the original vehicle using the FMEA analyse and created a new concept of the vehicle. The second part of the project describes a new hardware. I designed and tested the power electronics, control unit and supplies. The outputs of the work are prototypes which allow testing a new concept.
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Sensors and motor control of mobile robot
Zatloukal, Jiří ; Věchet, Stanislav (referee) ; Marada, Tomáš (advisor)
The diploma thesis is dealing with the proposal and realization of the sensor and drive system of the four wheel mobile robot. The control unit is a miniature computer Raspberry Pi. The robot will be employed in the future for the environment mapping and location. For this purpose robot exploits the different types of sensors. The information of these sensors is being processed by the Xmega microcontroller. Another microcontroller together with H-bridge DRV-8432 is used to control the direct current drives.
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Design of paraglider landing simulator
Wertheimer, Pavel ; Ripel, Tomáš (referee) ; Krejsa, Jiří (advisor)
Practice of landing with paraglider is very inefficient since every flight requires lengthy preparation. Therefore paragliding schools look for a more efficient alternative how to train new pilots. A paraglider flying simulator, which is the subject of this Master`s Thesis, could be that alternative. The design of the simulator includes three parts: a mechanical part - a frame to hang a pilot, that is the same as in real paraglider; an electronic part - scanning of pilot`s control actions and control of force in breaks of a paraglider; and a software part - a design of firmware for a microcontroller. Within the Master`s thesis a function prototype has been made.
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Design of construction, control and electronics for unstable balancing vehicle
Zouhar, František ; Krejčí, Petr (referee) ; Grepl, Robert (advisor)
Thesis deals with design of construction, control and electronics for unstable balancing vehicle. The rst part is focused on the determination of requirements for the function and then design and manufacture of structure in line with set requirements, including 3D models and drawings. The second part is devoted to the creation of simulation models of vehicles using the Lagrange equations of the second kind and using SimMechanics. Also PID and LQR regulators are designed, including the advantages and disadvantages of each regulator for this application. The last part is focused on electronics necessary to vehicle operating. They are mainly power electronics (H-bridge, battery charger, switching supply of voltage board). There are also necessary calculations, complete PCB design and a description of the rmware for the this specifc device.
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