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Performance, robustness and implementation of controllers
Buchta, Luděk ; Michal, Mrázek (referee) ; Pivoňka, Petr (advisor)
This master‘s thesis deals with the design of modern process control algorithms suitable for SISO industrial control equipments. In this thesis the analysis of the controller design methodology using Mixed-sensitivity function is described. This method consists in shaping frequency characteristics of the sensitivity function and complementary sensitivity fiction using the weighting functions. The proposed H controllers are compared with the classical structure of a discrete PID controller with filtered derivative part. The proposed controllers are compared in terms of robustness, performance, complexity of the design and requirements necessary for their practical application (anti-windup, smooth switchover). Robustness of the controller is evaluated on the basis of modulus stability margin. Estimation of model´s parameters is solved least-square method. The proposed control system consists of an industrial PC and Automation Panel from the company B&R, decentralized system I/O and the real plant. Visualization for control workplace was created in the program Automation studio. This visualization is used to the easy transfer of information from a controlled process.
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Controller of three-axis nano-metric manipulator
Pernica, Lukáš ; Jedlička, Petr (referee) ; Drexler, Petr (advisor)
This diploma thesis describes the piezoelectric phenomenon and its use for positioning with nanometric precision in laboratory use. In the thesis is description of direct and indirect piezoelectric phenomenon, various types of piezoelectric actuators and ways of their control with the aim of eliminating their hysteresis. The goal is to design a controller for piezo actuator built in the three-axis nanometric manipulator Thorlabs MAX341/M.
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Development of Platform for Three-Rotor Helicopter
Votava, Martin ; Rozman, Jaroslav (referee) ; Hájek, Josef (advisor)
The goal of this master's thesis is design and built of platform for three-rotor helicopter development. The helicopter is also known as tricopter. Theoretical part describes principle of tricopter's flight and stabilization. There is also described basics inertial navigation system and sensors which are required for correct functionality. Practical part is dedicated to development of tricopter's frame, schematics diagram, communication between subsystems and stabilization system development. Flight stablization system is base on ATmega128A an using PID Controller. In the end is described testing of developed platform.
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Altitude control of flying robot
Palacký, Tomáš ; Šembera, Jaroslav (referee) ; Baránek, Radek (advisor)
This bachelor’s thesis deals firstly with design and construction of a device for testing of altitude control algorithms of a flying robot. Secondly with creating and testing of an altitude control algorithm in order to apply findings while creating a copter control system. Provided is a selection and analysis of used hardware and software components – microcontroller AVR ATmega, ultrasonic sensor, motor controller and also communication interfaces IC, USART and SPI. Also design and realization of electrical wiring, circuit board and mechanical structure is being described here. The next section includes creation of software for microcontroller and PC application. The altitude control algorithm is developed using a simulation, furthermore tested and tuned for desired behavior.
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Samples of examples for configurable gate array
Bajer, Jan ; Spáčil, Tomáš (referee) ; Bastl, Michal (advisor)
This thesis introduces the issue of configurable gate arrays and their position with respect to microprocessor technology. The aim is to present work with gate arrays on a set of basic realizations within the field of mechatronics. The examples are processed using VHDL and they are primarily intended for Altera / Intel devices.
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Laboratory electronic load 400 W
Horna, Aleš ; Szabó, Zoltán (referee) ; Steinbauer, Miloslav (advisor)
This thesis deals with the construction of a laboratory electronic load purpose of which is to test various sources of electric energy, for instance electronic power supplies or accumulators. The thesis states possible designs of electronic circuits forming such an electronic load, it mentions factory manufactured devices, it describes the way of designing parts of the device, choice of components, conduction of circuit simulations for function verification of designed circuits and mechanical construction.
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Design of a quadcopter model
Fiala, Jan ; Dosoudilová, Monika (referee) ; Hůlka, Tomáš (advisor)
The bachelor thesis deals with the creation and implementation of a quadcopter model. The first part summarizes the basic division of unmanned systems and the rules of legislation limiting their operation. Subsequently, the problematics of motion dynamic is discussed. The practical part first describes the selection of components used, their connection, and the creation of the quadcopter frame. The implemented control system and calibration are also described. In the final part, a flight test, price analysis, and rating in comparison with the competitive product are included. The conclusion contains an evaluation of the work, possible improvements, and reflections on the future use of the model.
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Practical Use of Higher Control Systems
Kůtka, Michal ; Pásek, Jan (referee) ; Jirgl, Miroslav (advisor)
The master thesis deals with the implementation of higher controllers to the commonly used practice in the automation of technological processes. It uses the DCS system from Siemens - PCS 7 and its advanced APC (Advanced Process Control) library. The aim of this master thesis is a theoretical summary of resources and available tools for real-time deployment. The master thesis briefly introduces the Siemens PCS 7 DCS system and the APC library tools (functional blocks). For these types of regulators, their proper use is discussed.
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Suitability Assessment of Learning for Heuristic Adaptive Control of Drives
Kerek, Milan ; Krejsa, Jiří (referee) ; Březina, Tomáš (advisor)
The bachelor thesis is aimed to explore the possibilities of using artificial neural network in order to controll nonlinear dynamic systems. In addition the document shows the options to combine neural controllers with linear controllers, such as PID regulator, state space regulator with compensation error. Simulation models were designed in environment of Matlab/Simulink. Neural networks were exploit with the help of Neural Network Toolbox-u. Designed regulators were tested on regulating angular velocity of nonlinear system of 2nd order – wound DC motor.
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