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Track detection and planning
Brázdil, Jan ; Horák, Karel (referee) ; Richter, Miloslav (advisor)
The goal of the thesis was to design and create a line follower with one-line camera on The Freescale Cup 2013 car model platform. Computational unit is microcontroller Kinetis K40, which receives data from camera and other sensors. Then use these inputs to calculate the ideal path. This bachelor thesis leads to test several different types of controlling in unknown environment – data table control, vector control and PSD controller. It then expolores in known environment – map creation and drive control with map data. The thesis describes all used components, control theory and creating and programming controllers. In conclusion of this thesis all algoritms are tested on real track and results are compared.
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Analog system SW simulator
Košta, Ondřej ; Kaczmarczyk, Václav (referee) ; Bradáč, Zdeněk (advisor)
This Master’s Thesis focuses on development and realization of analog system software simulator for simulation of various kinds and orders systems and for function verification of microcontrollers’ control systems. The development and realization of PSD controller is part of this thesis as well. The simulator is written in C++/CLI programming language which combines fast execution of native code and provides an advantage of managed code which has its execution managed by the .NET Framework. The data acquisition is performed via National Instrument’s USB multifunctional DAQ. The PSD regulator is realized by using modern ARM processor architecture.
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Adaptive controllers for systems with time delay and its comparison with classical controllers.
Faltus, Ivo ; Burlak, Vladimír (referee) ; Pivoňka, Petr (advisor)
Master thesis is focused on the philosophy of design adaptive controller. In the theoretic part are described parts of the adaptive controller, which belongs parts as online identification by recursive least-squares method and PSD controller, which can set its parameters according to identified system (use Z-N method). The part of control system with transport delay is situated at the conclusion of the theoretic part, there are focused on Smith predictor. Practical part is focused on verification of all algorithms, which was performed on models and real systems.
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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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Use of the software PLC in thermal engineering of buildings
Hubený, František ; Kaczmarczyk, Václav (referee) ; Pásek, Jan (advisor)
This presenting master’s thesis deals with a problem of digitaly controled room temperature using the software PLC. The result of this work was creating of an algorithm to control temperature on the requested leve ofl setpoint, minimizing operating costs of the building. The PLC softwares from different manufacturers were analyzed and compared with conventional PLC. The testing facility was disigned and used to control the temperature in the room and data visualization. Room temperature was regulated by PS controller or two point regulator.
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Implementation of RTOS into STM32 microcontrollers with ARM Cortex-M4F core
Gothard, Adolf ; Valach, Soběslav (referee) ; Macho, Tomáš (advisor)
This masters's thesis deals with choice and implementation of two free real-time operating systems into powerful 32-bit microcontroller with ARM Cortex-M4F core. First, there is shortly described the ARM architecture in general, its programmer's model, instruction set and Cortex-M4F core in brief. Next is description of the architecture of used microcontroller STM32F407VGT6 from ST Microelectronics, description of its integrated memories and their organization and functions of its integrated A/D and D/A converters. Next part of this thesis deals with searching real-time operating systems with ARM Cortex-M4F core support and then choose two of these systems for the implementation. The chosen operating systems are more closely described in two following chapters. Next chapter analyses possible implementations of the digital PSD controller and more complex system of such controllers using real-time operating system. Following chapter describes implementation of chosen operating systems and designed controllers. Last chapter deals with evaluation of features and qualities of the chosen real-time operating systems for implementation of embedded control system.
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Control and visualization of techlologic process via IPC
Buchta, Luděk ; Libor, Matys (referee) ; Dvořáček, Martin (advisor)
The aim of this bachelor’s thesis was to acquaint with techniques and technologies used in the control and visualization of technologic processes. The industrial PC, PLC and Automation Panels from the company B&R was used on control of the technologic process in laboratory E541. Designed and implemented control algorithm contains three discrete controllers. The standard OPC is used for communication. Visualization for control workplace is created in the Program Control Web. Visualizations for operator workstations are created in the program Automation Studio. These visualizations are used to transfer information from the technological process.
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Comparative study of discrete PSD controllers
Pelikán, Leoš ; Dvořáček, Martin (referee) ; Pivoňka, Petr (advisor)
This bachelor thesis deals with verification of heterogeneous structures of discrete PSD controllers on different process structures. Description of controlling system and various structures of PSD regulators is in theoretic part. The practical part of thesis describes progress testing, particular results and compare with adaptive an adaptive controller of B&R company.
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