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Online Identification of Trailer Parametry using Ultrasond Sensors
Vejlupek, Josef ; Štefek, Alexandr (referee) ; Vlach, Radek (referee) ; Grepl, Robert (advisor)
This thesis deals with utilizing "the common ultrasonic parking sensors" for assisting the driver with backing-up a trailer. Key issues solved in this thesis are "Online trailer parameter estimation:" determining the estimate of angle between the car and the trailer, and determining the estimate of the length of the trailer shaft (distance from trailer coupling to trailer axle). Thesis contains the model of kinematics of the car with coupled trailer and ultrasonic sensor model together with the trailer viewd as an obstacle.
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System identification, sensory system and implementation of control algorithm for unstable balancing vehicle
Štěpánek, Jan ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
This work deals with design and construction of unstable double wheeled Segway-like vehicle built for human personnel transportation and its smaller scaled clone developed for control algorithms testing. The smaller machine is controlled via Joystick and PC. This work was conducted in team consisting of three students. Individual goals are described in chapter „Stanovení cílů práce“. The beginning of the work deals with researching any similar projects concerned with this topic, especially with sensors and control algorithms used. Further, the work describes the process of choosing used electronics and its parameters. One of the problems faced during the work was the pitch angle of the vehicle base calculation - algorithm of the angle calculation had been designed by students of several world universities. The principle of how it works was studied and then tested by simulations and practically in the following chapters. Further on, the work deals with platform‘s parameter estimation, at first the testing platform made of wood, followed by the final platform made of aluminium. Parameter estimation was realized by using the multifunctional I/O card Humusoft MF 624 for PC. Part of the work deals with the final control algorithm on the dsPIC microcontroller implementation, sensor‘s outputs calculation and calibration algorithm design. Since the vehicle is built for human personnel transportation, implementation of certain safety algorithms was necessary. These algorithms should be able to detect possible fail states and prevent the driver from losing control over the vehicle in order to prevent any injuries.
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Design of Chimney Effect Control
Toman, Marek ; Vejlupek, Josef (referee) ; Vlach, Radek (advisor)
This paper talks about problematics of excessive chimney draft. In the first part of the thesis the possibilities of chimney draft adjustability are summarized. Subsequently, a mathematical model, which describes the behavior of the chimney as a dynamic system, is built. Then a simple production control unit development is described. This control unit si designed to control the chimney draft. The main goal of this work is to design and manufacture electronic control based on the dsPIC microcontroller.
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Testing equipment for small electrical motors and linear actuators
Červínek, David ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
Aktuální postup testování je příliš zdlouhavý a nepřesný, zároveň není měření některých vlastností motoru vůbec možné. Hlavním úkolem zařízení je zrychlení a zjednodušení procesu testování spolu s možností otestovat všechny vlastnosti motorů. Realizace zařízení začala definováním požadavků zákazníka, dalším krokem byla analýza daných požadavků a návrh zařízení. Následovala výroba a programovaní firmwaru spolu se softwarem. Výsledkem práce je funkční přístroj schopný automatického testování sedmi základních typů motorů, měření všech požadovaných funkcí spolu s novou možností měření počtu tiků enkodéru, periody FG signálu z řídící elektroniky BLDC motorů a napěťové úrovně těchto signálů. Dalšími rozšířeními jsou možnost uložení výsledků z uskutečněných testů pro možné budoucí využití a možnost vizualizace proudu motorem. Uživatel je tedy schopný otestovat velké množství motorů v kratším časovém úseku a zároveň se o testovaných motorech dozvědět mnohem více informací než doposud.
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Re-design of steering servo-actuators for Car4 experimental robot
Vespalec, Tomáš ; Hadaš, Zdeněk (referee) ; Vejlupek, Josef (advisor)
This thesis deals with the development and design of the wheels mechanism in an experimental vehicle Car4. During this work, we introduce the vehicle axle load calculation, with components and systems, allowing linear and rotational motion, and different design proposals for the application of these systems in the vehicle. The result of this work will be a new mechanism for the wheels of the experimental vehicle Car4.
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Visualization of 4WS and 4WD vehicle movement
Blechta, Martin ; Vejlupek, Josef (referee) ; Lamberský, Vojtěch (advisor)
The aim of the thesis is to develop a graphical interface for visualization of 4WS and 4WD vehicle movement defined by its mathematical model. The visualization allows testing of various dynamic and kinematic models. The visualization is controlled either with joystick or a program input. An algorithm for rear wheels steering in dependence on speed is created and validated with a computational simulation and an experiment. The mathematical model defining the vehicle movement is connected with the dSPACE system enabling real time control. The thesis evaluates advantages and disadvantages of using the MLIB library for communication between dSPACE system and MATLAB.
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Návrh a realizace výukového modelu Závaží na pružině
Mikulenka, Ondřej ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
This thesis deals with the creation of an educational model of a mass on a spring. The model's construction includes a sensor and an actuator for system excitation. A data acquisition card has been developed to control the model. The parameters of the simulation model were determined based on measured data. The work includes demonstrative exercises for teaching purposes. It provides a comprehensive approach to the "Mass on Spring" model.
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Návrh a realizace inovovaného systému řízení pro nestabilní balancující vozidlo
Richter, Ondřej ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
This thesis revolves around innovation of an electronics system of segway-like vehicle. Next it focuses on wireless transfer and visualization of sensor data with simple GUI. First chapter deals with familiarization of past works and current state of the system also finding out requirements for improvement within the scope of this introduction. Next chapter consist of evaluation of old electronics, search for appropriate replacement and their exchange. It also contains realization of software side of wireless transfer between main board, communication board and PC. It also describes the making of a graphical use interface.
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