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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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Laboratory tasks for Feedback 38-001
Gléba, Gergely ; Veselý, Libor (referee) ; Blaha, Petr (advisor)
The aim of this project was to get acquainted with the preparation Feedback 38-001, regenerate and establish several demonstration tasks. The first part deals with the description and the resurgence of the device. The second section describes the activities of modernization and innovation the teaching facilities. The main care was to focus on the implementation of connection with the computer supplementing measuring card and obtaining information of the regulation in real time. The third part includes the proposed laboratory tasks. The first task is based on the on-off control, which is mostly used in practice for its ease of use, with no major claims. The second task is defined for continuous control, which ensures better quality and comfort of controlling the level and the water flow. The third contains a task for identification of system parameters.
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Design, production and testing of education model "Watt's regulator"
Janoš, Petr ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
In the thesis I deal with design, production and testing of laboratory education model "Watt‘s regulator". This work considers different solutions of construction and especially the role of sensors. I assess positives and negatives of each solution. In addition, I describe design and implementation of electronics and wiring for the communication with a PC via control card Humusoft MF624. Using the MATLAB-Simulink and its extensions Real Time Toolbox 4.0 I make the proposal of PID regulator based on Ziegler – Nichols method.
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Control of electric drives using Simulink Real-Time
Schrötter, Ján ; Veselý, Libor (referee) ; Pohl, Lukáš (advisor)
The goal of this bachelor’s thesis is implementation of control of permanent magnet synchronous motor using Simulink Real-Time on a platform with MF624 I/O card. The control will be realized by hardware-in-the-loop simulation method. The thesis deals with structure of the motor and transformations needed for vector control. The platform and control system of the whole task is described in the next part of the thesis.
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Design of education model of termocycler
Smělý, Jakub ; Sikora, Michal (referee) ; Vlach, Radek (advisor)
This work describes the design of the learning model thermocycler. Measurement and control of temperature trends by measuring MF624 card and computer in real time. They are described thermoelectric phenomena associated with the operation of Peltier elements and measured using thermocouples.
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Control of Inverted Pendulum
Rýc, Jan ; Grepl, Robert (referee) ; Šolc, František (advisor)
In this work the identification of an inverted pendulum system is realised. To gain the mathematical model the second type of Lagrange equation is used. In program Simulink the creation of the nonlinear model from obtained equations and the resulting simulation are realised. Afterwards the system linearization about an equilibrium point is realised. It is described how to transfer the pendulum from its down position to its up position and how to stabilize it here. For this purpose the proposal of the control by the Quadratic Optimal Controller and PD regulator is made. Since the proposed way of stabilisation of the inverted pendulum is then applied on a real system in the laboratory of ÚAMT FEKT, the work also contains the description and the analysis of particular parts of the real model. The verification of the simulated and the real model is realised. Next part of the work deals with the system of an dual-inverted-pendulum which is placed on a cart.
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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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|
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Control of electric drives using Simulink Real-Time
Schrötter, Ján ; Veselý, Libor (referee) ; Pohl, Lukáš (advisor)
The goal of this bachelor’s thesis is implementation of control of permanent magnet synchronous motor using Simulink Real-Time on a platform with MF624 I/O card. The control will be realized by hardware-in-the-loop simulation method. The thesis deals with structure of the motor and transformations needed for vector control. The platform and control system of the whole task is described in the next part of the thesis.
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Laboratory tasks for Feedback 38-001
Gléba, Gergely ; Veselý, Libor (referee) ; Blaha, Petr (advisor)
The aim of this project was to get acquainted with the preparation Feedback 38-001, regenerate and establish several demonstration tasks. The first part deals with the description and the resurgence of the device. The second section describes the activities of modernization and innovation the teaching facilities. The main care was to focus on the implementation of connection with the computer supplementing measuring card and obtaining information of the regulation in real time. The third part includes the proposed laboratory tasks. The first task is based on the on-off control, which is mostly used in practice for its ease of use, with no major claims. The second task is defined for continuous control, which ensures better quality and comfort of controlling the level and the water flow. The third contains a task for identification of system parameters.
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