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Inverted pendulum control
Daněk, Petr ; Němec, Zdeněk (referee) ; Marada, Tomáš (advisor)
This diploma thesis deals with inverse pendulum control. There are described types of inverse pendulums, used power electronics, sensors and their connection to the MF624 control card and to external hardware. Further is described the identification of parameters, including the assembly of a custom algorithm for identification of viscous friction in the pendulum rotary coupling. For identification of moments of inertia are used 3D CAD models, where the thesis describes also use of these models for VRML visualization. The thesis also describes how to build a dynamic model by using Matlab-Simulink and the Simscape-Multibody toolbox. This model is further used in design of the controller using LQR and its simulation testing. The controller is complemented by swing-up algorithm, security elements and MF624 driver interface is designed. The control is tested on a real inverse pendulum assembly and implemented in external hardware.
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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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Stabilization of macroscopic particle in optical trap
Mlynář, Vojtěch ; Matěj, Zdeněk (referee) ; Brablc, Martin (advisor)
Cílem této práce je implementace a otestování algoritmů pro zpětnovazební stabilizaci částice v optické pasti. Tyto algoritmy jsou implementovány v programovatelném hradlovém poli Red Pitaya STEMlab 125-14 s využitím automatického generování kódu z modelů v programu Simulink. V práci je popsán fyzikální základ řízeného systému, jeho návaznost na teorii Kálmánova filtru, detaily implementovaných algoritmů v FPGA a procedury využité pro odhad parametrů. Implementované algoritmy byly úspěšně otestovány na reálné sestavě a výsledky jsou ukázány v závěru práce.
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Modeling and analysis of laboratory rotational pendulum
Nedvědický, Pavel ; Bastl, Michal (referee) ; Brablc, Martin (advisor)
This bachelor thesis aims at modelling, identification and control of Furuta pendulum. System was described via mathematical equations and simulation model was created in Matlab/Simulink. Parameters of rotary inverted pendulum were estimated using the simulation model. Then the thesis deals with swing up via torque impulse, energy control and PD regulator. In the part dealing with friction five compensation models were created. They include change of friction during rotation and one of them is dynamic model, Reset Integrator. Models were verified by adding them as an input to an actuator and testing them. To stabilize pendulum in inverted position state feedback control with state observer was designed using LQR method. Final regulation included all knowledge obtained during this thesis.
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Pendulum stabilization
Maralík, Marek ; Veselý, Libor (referee) ; Pohl, Lukáš (advisor)
The diploma thesis deals with putting the pendulum into upright position and its stabilization on a real system. The opening chapter describes the limiting various implementation inverse pendulums, the use of major laboratory tasks in industry, and the selection of appropriate methods for stabilization. The real system was properly identified and parameterized. The mathematical model of the inverse pendulum was derived using the Lagrange method of the second type, the nonlinear system was converted into a status description and linearized for the needs of the state controller design. The system was simulated in the Matlab Simulink environment. The LQR controller was chosen as the regulator stabilizing in upright cases. A Kalman controller in discrete form was prepared for the filter signal and estimation of residual states. The energy method was chosen for the upright pendulums. The proposed methods were tested and implemented in simulation and on a real system.
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Design and control of self balancing robot
Jiruška, Jiří ; Pohl, Lukáš (referee) ; Blaha, Petr (advisor)
This thesis deals with complete design and manufacturing of autonomous two wheeled self-balancing robot. The goal of this thesis is to maintain the robot in up-right position and to follow black line using camera. The robot is controlled using Raspberry Pi and driven by DC motors. This thesis includes the design and implementation of hardware and software parts. Subsequently there was created the dynamic model in Matlab/Simulink. Based on this model, the LQR and PID controller was designed.
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Educating model for mechatronics: model development and fast USB communication
Formánek, Martin ; Vejlupek, Josef (referee) ; Appel, Martin (advisor)
Táto diplomová práca sa zaoberá návrhom a realizáciou výukového modelu pre študentov mechatroniky na vysokej škole. Úvod práce sa zaoberá krátkym uvedením do problematiky používania univerzálnej sériovej zbernice a jej implementáciou pre komunikáciu s mikrokontrolérom. Druhá časť je venovaná hardwaru zariadenia, medzi čo patrí voľba vhodného motoru, návrh vhodných elektronických komponentov, návrh dosiek plošných spojov a taktiež mechanickej konštrukcie celého zariadenia. Nasleduje softwarová časť, popisujúca praktickú realizáciu komunikácie, program v mikrokontroléry, a Toolbox, ktorý umožňuje užívateľovi jednoduchú interakciu s hardwarom a to jak z Matlabu. tak zo Simulinku. Kombinácia navrhnutých hardwarových a softwarových prvkov umožňuje jednoduchú cestu k zlepšeniu vedomostí študentov v oblastiach programovania, riadenia a modelovaní sústav. Pre tieto účely je práca rozšírená o pracovný list, ktorý dopĺňa navrhnuté zariadenie o sadu experimentálnych úloh, zameraných na vybrané mechatronické problémy.
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Optimization of the DC motor state space controller for FPGA
Maliszewski, Michal ; Kovář, Jiří (referee) ; Andrš, Ondřej (advisor)
This thesis deals with the optimization of state space controller of DC motor on FPGA in LabVIEW environment on NI cRIO platform. In the first part, the state space model of the given DC motor is presented in Matlab/Simulink and then the position feedback controller with steady-state error elimination and with state observer with error compen-sation using LQR method is designed. The thesis continues with transforming the con-troller to LabVIEW environment where the code is edited for FPGA use. Next, the fo-cus on FPGA hardware resources consumption optimization leads to careful work with fixed-point data type. After successful code compilation on target hardware, the real given DC motor is connected and the series of tests are performed. The output of the thesis is working state space controller running on FPGA and the graphical user inter-face on real-time host cRIO, which enables the user to control the plant and save the data on the disk.
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