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Robotic table football - control of game axes
Sláma, Ondřej ; Lang, Stanislav (referee) ; Parák, Roman (advisor)
The purpose of this bachelor thesis is to build on top of already developed solution of B&R Automation's robotic table football and to improve existing problematic areas. Particularly aiming at modularization of the axis control software and subsequent dynamic motion optimization. In the introductory part of the thesis already developed solution are discussed as well as brief description of B&R company and research on the topic of electric drive control. Following chapters describe the implementation of axis control software along with the design of two types of dynamic optimization. The thesis was extended with design of module for human axis detection along with simulation and implementation of proposed signal filtering algorithms developed in the MATLAB development environment.
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Methodology of machine tool’s electric drive system modeling
Pruša, Radomír ; Černohorský,, Josef (referee) ; Kurfűrst, Jiří (referee) ; Huzlík, Rostislav (advisor)
The present dissertation is focused on the methodology of modelling of the machine tool drive. The initial chapters contain a review of the current state of knowledge in the field of drive modelling with a focus on the electromagnetic part, thermal field and drive control. The acquired overview and orientation in the subject matter has enabled the development of a systematic analysis on the topic of modelling the machine tool axis drive. The follow-up work was aimed at obtaining the appropriate quality of the output parameters, according to the subsequent use of the results. The reason for this approach is to ensure only a minimum of input parameters. At the same time, the individual parameters must be readily available or easily measurable. The actual methodology of the drive modelling method was also based on the described strategy. The basic building blocks were chosen to be the warming of the machine, the energy balance, the setting of the control structure and, last but not least, the positioning accuracy. The applied methodology was also verified at the end of the thesis under different operating conditions, which were adapted to multiple drive variations.
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Positional Motion Control by means of 8bit uP
Janda, Petr ; Holý, Miroslav (referee) ; Matoušek, Radomil (advisor)
This thesis deals with positional control of DC motor Icla D065 of company SIG Positec Automation GmbH with aid of CAN-Bus and CANopen protocol. Individual parts describe general principle and standards of CAN-Bus and international normalized higher-level protocol CANopen for systems control. For control this motor was used microcontroller PIC18F4685 from company Microchip and developmental environment MPLAB® IDE. With used C language was made program for MCU control communication with a motor by support of CANopen protocol and its motion control. The result of this thesis will be used in solution of research project Intelligent Systems in Automation.
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Control and synchronization of electric drives in NI LabVIEW
Martini, Silvano ; Šubrt, Kamil (referee) ; Houška, Pavel (advisor)
This thesis in his beginning describes basics of motor controlling and function principles of EtherCAT bus. Majority of the thesis is devoted to extending module SoftMotion for development environment NI LabVIEW. There is described the basic concept of the module, ways of functions using, various programming approaches and examples. Realization of hardware control is mentioned at the end.
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Minidarpa robot - motor controller design
Libra, Jaroslav ; Florián, Tomáš (referee) ; Kopečný, Lukáš (advisor)
The main task of this master’s thesis is to design circuits for feedback control of the main drives Minidarpa robot. It contains the description of power-driven mobile robot control theory and the DC motor. The second part deals with the design options of the control module and its mechanical design. The last part of the proposal made cascade speed control with current loop by using optimal module and the symmetric optimum methods.
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Robotic Rubik's Cube Folding
Lukšíček, David ; Zuth, Daniel (referee) ; Marada, Tomáš (advisor)
This Master thesis deals with design, assembly realization and commissioning of the robotic system for automated solving of Rubik's cube puzzle. In the beginning of the thesis there are mentioned some of the existing projects for this purpose. Following chapters present desing concepts of the whole construction. In the final chapters there are mentioned software controlling structures as well as economical summary.
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Microcontrollers for BLDC Motors
Úlehla, Martin ; Drahanský, Martin (referee) ; Orság, Filip (advisor)
Master thesis deals with solutions of BLDC motors (brushless DC motors) control. It analyses microcontrollers and electronic components suitable for BLDC motor controllers under conditions of serial production. It mentions some common problems in practical aplication like dynamic motor braking, synchronization, recuperation and constant revolutions.
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Robotic Rubik's Cube Folding
Lukšíček, David ; Zuth, Daniel (referee) ; Marada, Tomáš (advisor)
This Master thesis deals with design, assembly realization and commissioning of the robotic system for automated solving of Rubik's cube puzzle. In the beginning of the thesis there are mentioned some of the existing projects for this purpose. Following chapters present desing concepts of the whole construction. In the final chapters there are mentioned software controlling structures as well as economical summary.
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Robotic table football - control of game axes
Sláma, Ondřej ; Lang, Stanislav (referee) ; Parák, Roman (advisor)
The purpose of this bachelor thesis is to build on top of already developed solution of B&R Automation's robotic table football and to improve existing problematic areas. Particularly aiming at modularization of the axis control software and subsequent dynamic motion optimization. In the introductory part of the thesis already developed solution are discussed as well as brief description of B&R company and research on the topic of electric drive control. Following chapters describe the implementation of axis control software along with the design of two types of dynamic optimization. The thesis was extended with design of module for human axis detection along with simulation and implementation of proposed signal filtering algorithms developed in the MATLAB development environment.
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Microcontrollers for BLDC Motors
Úlehla, Martin ; Drahanský, Martin (referee) ; Orság, Filip (advisor)
Master thesis deals with solutions of BLDC motors (brushless DC motors) control. It analyses microcontrollers and electronic components suitable for BLDC motor controllers under conditions of serial production. It mentions some common problems in practical aplication like dynamic motor braking, synchronization, recuperation and constant revolutions.
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