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Minidarpa robot - motor controller design
Libra, Jaroslav ; Florián, Tomáš (referee) ; Kopečný, Lukáš (advisor)
The main task of this master’s thesis is to design circuits for feedback control of the main drives Minidarpa robot. It contains the description of power-driven mobile robot control theory and the DC motor. The second part deals with the design options of the control module and its mechanical design. The last part of the proposal made cascade speed control with current loop by using optimal module and the symmetric optimum methods.
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Position control of cross-table dedicated manufacturing machine
Plocek, Jaroslav ; Vetiška, Jan (referee) ; Houška, Pavel (advisor)
The bachelor thesis treats the drive solution of the two axis cross-table of a single-purpose manufacturing machine. The first chapter analyzes the concept of drives and compares different variants using either a direct linear drive or a ball screw with a rotary servo drive. The thesis further deals with sizing the motor and the power unit assembly and the description of the whole measuring system. The structure of cascading position controller, its description and the calculation of current and speed control loops is covered in the next part. The last section discusses practical settings of all control parameters.
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Servomotor with electronic commutating and his control and adjusting.
Schmied, Miloš ; Chomát, Luděk (referee) ; Pivoňka, Petr (advisor)
This thesis deals with the analysis of the actuator ACOPOS and its accessories. There are described the cascaded control loop concept and the setting servomechanism from B&R Automation with the important parameters. We follow the draft a speed controller servomotor with a load with the regards to knowledge of the control system. We compare the different methods of labor control actuator at last. There are implemented laboratory tasks of Position servomechanism and speed servo controller-on-load as a demonstration of our achieved results.
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Minidarpa robot - motor controller design
Libra, Jaroslav ; Florián, Tomáš (referee) ; Kopečný, Lukáš (advisor)
The main task of this master’s thesis is to design circuits for feedback control of the main drives Minidarpa robot. It contains the description of power-driven mobile robot control theory and the DC motor. The second part deals with the design options of the control module and its mechanical design. The last part of the proposal made cascade speed control with current loop by using optimal module and the symmetric optimum methods.
|
|
|
Servomotor with electronic commutating and his control and adjusting.
Schmied, Miloš ; Chomát, Luděk (referee) ; Pivoňka, Petr (advisor)
This thesis deals with the analysis of the actuator ACOPOS and its accessories. There are described the cascaded control loop concept and the setting servomechanism from B&R Automation with the important parameters. We follow the draft a speed controller servomotor with a load with the regards to knowledge of the control system. We compare the different methods of labor control actuator at last. There are implemented laboratory tasks of Position servomechanism and speed servo controller-on-load as a demonstration of our achieved results.
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Position control of cross-table dedicated manufacturing machine
Plocek, Jaroslav ; Vetiška, Jan (referee) ; Houška, Pavel (advisor)
The bachelor thesis treats the drive solution of the two axis cross-table of a single-purpose manufacturing machine. The first chapter analyzes the concept of drives and compares different variants using either a direct linear drive or a ball screw with a rotary servo drive. The thesis further deals with sizing the motor and the power unit assembly and the description of the whole measuring system. The structure of cascading position controller, its description and the calculation of current and speed control loops is covered in the next part. The last section discusses practical settings of all control parameters.
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