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Modelování a řízení pohybu humanoidního robotu
Sokolová, Alexandra ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
With the rise in popularity of mobile robots in our day-to-day life and their advantages in exploration, we need to explore a broader scope of methods of movement that would allow these machines to comfortably live by our sides or access the terrain which is inaccessible to humans. We have long since realised that wheels do not allow for the necessary range of movement within environment that is harder to navigate. As a result, the development of robots with legs has seen a rapid rise in prominence in the recent years. Within this text we explored the possibilities of design of one such robot, a monopedal hopper with a foot, and then created a model in SimScape Multibody with the final result being a short choreography displaying the robot’s abilities to move in space, such as: crouching and jumping on and over obstacles.
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Low-cost demonstrators for automatic control methods
Malypetr, Matěj ; Kozovský, Matúš (referee) ; Blaha, Petr (advisor)
This work describes the design and subsequent implementation of two tasks for the demonstration of automatic control using an Arduino development board. The control circuit consists of a physical systemsystém with attached actuator, sensor for the measurement of the system’s output and Arduino board as a control unit with automatic feedback controller of PID type. For both demonstrators, parametric model is obtained from measured data using system identification and output filter is designed and implemented. The controller is designed in the environment of MATLAB® Simulink. Simulink support package for Arduino addon enables to automaticaly compile generated code, to program the Arduino board through USB cable and to launch this program in real-time. It is also possible to monitor and calibrate the constants directly through the Simulink scheme.
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Efficient solid fuel boiler control by PLC
Pirochta, Josef ; Radil, Lukáš (referee) ; Bátora, Branislav (advisor)
This thesis focuses on the efficient control of a solid fuel boiler using a programmable logic controller (PLC). The objective is to develop and optimize a control system that will enable safe, reliable and efficient operation of the boiler. The thesis includes a theoretical analysis of the safety requirements, a description of the parameters of the VERNER A251 boiler and the design of the regulation using PID controllers. The output is a complex software program designed in Mosaic environment, which simulates the boiler operation in multiple scenarios and allows its adjustment and analysis. The simulations have been designed to accurately represent the various boiler states from ignition to fault conditions, providing a comprehensive view of the entire control process.
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Industrial PID controller with visualization and bumpless switching
Kupčík, Michal ; Chomát, Luděk (referee) ; Pivoňka, Petr (advisor)
This work informs reader about different program implementation of PID controller. Next it contains description of four basic events, which cause bump switching. For each of these four events is made analysis, why bump is caused and subsequently is made description, how to eliminate these bumps. The result is set of equations, which properly adjust regulators parameters. On big number of graphs there is proved, that after application of these equations, switching become bumpless. Another part of this dokument is a description, how to illustrative demonstrate bumpless switching in MATLAB's script, in B&R's virtual control system AR000 and on real system, whitch will be controled by B&R's control system type Power Panel.
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Electronic speed controller
Šimbera, Michal ; Kučera, Pavel (referee) ; Svída, David (advisor)
The thesis deals with the design, realisation and functional verification of an electronic cruise control unit. Required inputs, outputs and controller of the control unit are identified first. The design and layout of the electronical components, including the processor, power supply and other necessary hardware is discussed. The algorithm for the control unit is developed in C/C++ and thoroughly analysed. The functionality of the cruise control unit equipped with the algorithm is verified through a case study performed on a combustion engine.
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Industrial PID controller with autotuning and visualisation
Vávra, Pavel ; Dvořáček, Martin (referee) ; Pivoňka, Petr (advisor)
This thesis deals with implementation of industrial used controlling block into Power Panel equipment of B&R in integrated development environment Automation Studio 3.0.71. It is PID controller with autotuner and visualization, which allowed bumpless transfer among controlling algorithms and manual control. PID and I-PD controllers with filtering of derivative action and dynamic antiwindup were implemented. Parameters of PID controller is possible to tune with the aid of ultimate gain and ultimate period according rules of Ziegler-Nichols. Ultimate parameters of controlled plant is possible to acquire with the aid of two identification methods, recursive least squares method and relay feedback. Recursive least squares method was implemented with directional forgetting. For relay feedback were used two types of relays: ideal and saturation relay for improving accuracy of searched ultimate values. The whole solution is programmed in ANSI C which Automation Studio supports. Created controller is control with the aid of touchscreen which is integrated in Power Panel. Trends of process values are viewed on the screen too. For comparison adaptive controller by B&R was implemented. This contoller is standardly supplied with Automation Studio in LoopConR library. All created algorithms were first validated on mathematical model of plant and then on real model in laboratory. The first part of thesis deals with theoretic analysis of used methods. The practical realization is described in the second part of this diploma thesis.
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Autonomous Formula Controlling
Harvan, Mário ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
The aim of this paper is to analyze the problems of autonomous car system in the Formula Student competition. The paper focuses on design and implementation of a system that can identify race track, calculate the best route that car can follow, and control car to follow given route. The objective of the system is to control car so that it can go around the track in the shortest possible time. Part of the paper is a theoretical model of the vehicle, which allows an algorithm to calculate the maximum possible speed of the formula in each section of the track. Last section focuses on system testing inside simulator and comparison of different path finding algorithms.
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Hybrid Control System for Quadrocopter
Sojka, Stanislav ; Mlích, Jozef (referee) ; Dittrich, Petr (advisor)
This thesis deals with the design and theoretical description of the hybrid control system for quadrocopter. First, a mathematical model is presented, sensors needed for development and their principles. This work shows the system architecture design and scheme of communication channels between the blocks. Implementation section discusses specific uses of computing nodes/sensors and their settings. In this thesis there are illustrated messages sent between computing nodes and the control loop machine. It also describes how to test the sensors, measurement results and techniques for improvement.
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Control and Position Stabilization of a Small Flying Drone
Martinec, Adrián ; Zamba, Martin (referee) ; Strnadel, Josef (advisor)
The goal of this thesis is to create a drone in a form of a plane, driven by autopilot. I have solved the selected issues using a theory of flight and regulators from an automatization area. The text describes a functional solution. Unfortunately because of an accident, no final tests were performed. A contribution of this work is in exploring a functionality of various parts that are used with a drone building process. That includes a use of regulators and creation of libraries driving those parts.
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