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Comparison of simple and branched control circuits
Blahút, Lukáš ; Vojáček, Zdeněk (referee) ; Davidová, Olga (advisor)
This bachelor thesis deals with possibilities of improving the accuracy and quality by branching simple control loop. The work contains a description of a simple control loop and the different possibilities of its branching. The conclusion includes a proposal of control parameters for simple and branched control loops with regulator's waveforms simulated in Simulink program.
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Simple and branched control circuits
Holoubek, Lukáš ; Švarc, Ivan (referee) ; Davidová, Olga (advisor)
The goal of this thesis is a theoretical and practical comparison of simple and branched controlled circuits in relation to regulation ‘s quality. Theoretical part describes control, regulation, regulation ‘s circuit, regulator and its parameters setting. There are specific transmissions of the regulated system set on which a step signal response and a fault’s signal pulses are simulated on. Regulation’s quality results are closely analyzed and described using Matlab/Simulink program.
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Uncommon platforms in mobile robotics
Miškolci, Michal ; Cihlář, Miloš (referee) ; Kopečný, Lukáš (advisor)
This thesis deals with the design of a four-wheeled omnidirectional robot chassis capable of trajectory tracking. For this purpose, a kinematic model is built in the thesis, then applied and compared with a real robot. This model implementing linear trajectory tracking is complemented by the computation of circular trajectory, and both types of motion are applied to the robot and evaluated. For large deviations from the desired circular trajectory, the last part of the paper is devoted to improve the tracking by linearizing the motor and using an angular velocity sensor to compensate for the rotational deviation.
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Uncommon platforms in mobile robotics
Miškolci, Michal ; Burian, František (referee) ; Kopečný, Lukáš (advisor)
This thesis deals with the design of a four-wheeled omnidirectional robot chassis capable of trajectory tracking. For this purpose, a kinematic model is built in the thesis, then applied and compared with a real robot. This model implementing linear trajectory tracking is complemented by the computation of circular trajectory, and both types of motion are applied to the robot and evaluated. For large deviations from the desired circular trajectory, the last part of the paper is devoted to improve the tracking by linearizing the motor and using an angular velocity sensor to compensate for the rotational deviation.
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Simple and branched control circuits
Holoubek, Lukáš ; Švarc, Ivan (referee) ; Davidová, Olga (advisor)
The goal of this thesis is a theoretical and practical comparison of simple and branched controlled circuits in relation to regulation ‘s quality. Theoretical part describes control, regulation, regulation ‘s circuit, regulator and its parameters setting. There are specific transmissions of the regulated system set on which a step signal response and a fault’s signal pulses are simulated on. Regulation’s quality results are closely analyzed and described using Matlab/Simulink program.
|
|
|
Comparison of simple and branched control circuits
Blahút, Lukáš ; Vojáček, Zdeněk (referee) ; Davidová, Olga (advisor)
This bachelor thesis deals with possibilities of improving the accuracy and quality by branching simple control loop. The work contains a description of a simple control loop and the different possibilities of its branching. The conclusion includes a proposal of control parameters for simple and branched control loops with regulator's waveforms simulated in Simulink program.
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