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Adaptive controllers with principles of artificial intelligence and its comparison with classical identifications methods
Vaňková, Tereza ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
Master’s thesis is focused on the adaptive controllers. The first theoretic part mainly describes the parametric identification, which belongs to the most important part of the adaptive controller’s structure. Classical identification methods (the recursive least squares methods) are firstly mentioned and afterwards the identification methods based on the neural network (the Marquardt-Levenberg algorithm and the new identification algorithm NIA inspired by the neural networks) are described. At the conclusion of the theoretic part there are mentioned the algorithm of the adaptive controller’s tuning which uses the identification parameters (the modified Z-N method) and the tested types of adaptive controllers. Particular results, which were found out by verifying of the adaptive controllers on the simulation and real models, are contained in second, the practical, part of the thesis. Finally, achieved results are compared with the classical discrete PID controller and with the adaptive controller of the B&R company.
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Comparative study of PID and PSD Controllers
Staněk, Viktor ; Dvořáček, Martin (referee) ; Pivoňka, Petr (advisor)
Description of PID and PSD controllers structures. Verification of function of heterogeneous structures of PSD controllers on typicall transfer functions. Respones to changes of input value. Effect of change of sampling period on PSD cotrollers. Verification of influence of derivative part of PS-D and S-PD controllers.
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Comparative study of discrete PSD controllers
Vaňková, Tereza ; Dvořáček, Martin (referee) ; Pivoňka, Petr (advisor)
Bachelor’s thesis is focused on a verification of heterogeneous structures of discrete PSD controller depending on different process structures. The first theoretic part describes a continuous action controller, a transformation from the continuous to the discrete control and a discrete control loop (with issues like a sampling, a quantization, a signal shaping). Further there are described the concrete structures of the discrete PSD controllers – from the classical PSD controller over the variations with filtration in a derivative part to the structures with an elimination of the oscillation and the first overshoot. There are also mentioned two methods of controller parameters´ setting– second Z-N method (based on finding out critical parameters of the system) and a balanced setting of controllers. Second, practical, part of thesis contains particular results, which were found out by measuring on the simulation and real models. Finally achieved results are compared with an adaptive controller of B&R company.
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Industrial PID controller with visualization and bumpless switching
Kupčík, Michal ; Chomát, Luděk (referee) ; Pivoňka, Petr (advisor)
This work informs reader about different program implementation of PID controller. Next it contains description of four basic events, which cause bump switching. For each of these four events is made analysis, why bump is caused and subsequently is made description, how to eliminate these bumps. The result is set of equations, which properly adjust regulators parameters. On big number of graphs there is proved, that after application of these equations, switching become bumpless. Another part of this dokument is a description, how to illustrative demonstrate bumpless switching in MATLAB's script, in B&R's virtual control system AR000 and on real system, whitch will be controled by B&R's control system type Power Panel.
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Application of cable robot
Bulenínec, Martin ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
The thesis deals with the changes of a cable robot to a manipulator. The mechanical changes are mostly about adding an active part to a moving platform with the ability to transfer objects and the effort to exchange the silicon cables for metal ones. The main part of the thesis is the proposed design and implementation of the algorithm for detection of a possible collision of the cable robot with an object in its working space.
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Industrial PID controller with autotuning and visualisation
Vávra, Pavel ; Dvořáček, Martin (referee) ; Pivoňka, Petr (advisor)
This thesis deals with implementation of industrial used controlling block into Power Panel equipment of B&R in integrated development environment Automation Studio 3.0.71. It is PID controller with autotuner and visualization, which allowed bumpless transfer among controlling algorithms and manual control. PID and I-PD controllers with filtering of derivative action and dynamic antiwindup were implemented. Parameters of PID controller is possible to tune with the aid of ultimate gain and ultimate period according rules of Ziegler-Nichols. Ultimate parameters of controlled plant is possible to acquire with the aid of two identification methods, recursive least squares method and relay feedback. Recursive least squares method was implemented with directional forgetting. For relay feedback were used two types of relays: ideal and saturation relay for improving accuracy of searched ultimate values. The whole solution is programmed in ANSI C which Automation Studio supports. Created controller is control with the aid of touchscreen which is integrated in Power Panel. Trends of process values are viewed on the screen too. For comparison adaptive controller by B&R was implemented. This contoller is standardly supplied with Automation Studio in LoopConR library. All created algorithms were first validated on mathematical model of plant and then on real model in laboratory. The first part of thesis deals with theoretic analysis of used methods. The practical realization is described in the second part of this diploma thesis.
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Prediktive controllers with principles of artificial intelligence
Matys, Libor ; Mikšánek, Vojtěch (referee) ; Pivoňka, Petr (advisor)
Master’s thesis deals with problems of predictive control especially Model (Based) Predictive Control (MBPC or MPC). Identifications methods are compared in the first part. Recursive least mean squares algorithm is compared with identification methods based on neural networks. Next parts deal with predictive control. There is described creation MPC with summing element and adaptive MPC. There is also compared fixed setting PSD controller with MPC. Responses on disturbance and changes of parameters of controlled plant are compared. Comparing is made on simulation models in MATLAB/Simulink and on physical model connected to PLC B&R.
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Design of the endpoint trajectory of the robotic arm using the virtual point method
Bubeník, Ľubomír ; Blaha, Petr (referee) ; Pivoňka, Petr (advisor)
The diploma thesis deals with a new approach to create a robotic arm trajectory. The first part descibes existing methods of trajectory planning. The second part shows virtual point method, implementation of the trajectory planning into the web environment and trajectory generation. Third part descibes the virtual robot model and designed comunnication protocols. The fourth part shows grafical user interface and his posibilities. The last part presents implemention of web aplication into industrial visualization.
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Adaptive controllers for systems with time delay and its comparison with classical controllers.
Faltus, Ivo ; Burlak, Vladimír (referee) ; Pivoňka, Petr (advisor)
Master thesis is focused on the philosophy of design adaptive controller. In the theoretic part are described parts of the adaptive controller, which belongs parts as online identification by recursive least-squares method and PSD controller, which can set its parameters according to identified system (use Z-N method). The part of control system with transport delay is situated at the conclusion of the theoretic part, there are focused on Smith predictor. Practical part is focused on verification of all algorithms, which was performed on models and real systems.
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Comparative study of discrete PSD controllers
Pelikán, Radek ; Malounek, Petr (referee) ; Pivoňka, Petr (advisor)
The aim of my bachelor's thesis was verification and comparison of heterogenous structures of discrete PSD controllers. First thing mentioned is method of converting continuous PID controllers to discrete PSD controllers. After that I described basic types and structures of discrete controllers. I verified the controllers using computer simulation and control of real systems. I described integral criteria of regulation quality and tried setting of controllers using Ziegler-Nichols method and on ITAE criterion minimum. I mainly focused at classic PSD controller and PSD controllers with filtration of derivative component in old and new design. All controllers were compared.
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