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Control of laboratory model of unstable balancing vehicle
Horák, Petr ; Zavadinka, Peter (referee) ; Grepl, Robert (advisor)
This diploma thesis is a part of HUMMER project. The project deals with three student’s development of two-wheeled unstable vehicle Segway type and its diminished laboratory model. This thesis deals with reviviscence of laboratory model, design of its control and realization of its actuating (a more detailed breakdown of tasks in the project is shown below). At the beginning of the work is presented reviewed study. The first part of study deals with similar models in the world, their construction and way of control. In the next part of reviewed study follows description of a real model and derivation of model basic equations, in the last part of search is given principle of operation of some used sensors. The next step was the selection and design of required electronics. In this capture are described all designed electronic modules and used sensors. There are also given parameters of used batteries and motors. The next task was the estimation of system parameters. The estimation was made by sections, in the capture is in detail described way of measuring data and structuring of estimation model. The penultimate step was design of PID and LQR controller using I/O card MF 624 and their comparing. Following thing was choice of better regulator and its implementation to the microprocessor. The last step was the realization of actuating driving of model by joystick and supreme PC.
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Design of self-balancing mobile robot
Bartončík, Michal ; Hrabec, Jakub (referee) ; Šolc, František (advisor)
This thesis treatise about design self-balancing wheelframe type of segway. Introduces the principle of segway, the original models and solutions other people. The simulation uses a mathematical model to determinate the characteristics of senzors. Selection the method of measuring the angle and implementation with the help of sensors. Furthermore, deal with engines for moving of model, multifunction I/O card and desktop board for processing signal from sensors. Their connections and attechments on the construction.
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Design of construction, control and electronics for unstable balancing vehicle
Zouhar, František ; Krejčí, Petr (referee) ; Grepl, Robert (advisor)
Thesis deals with design of construction, control and electronics for unstable balancing vehicle. The rst part is focused on the determination of requirements for the function and then design and manufacture of structure in line with set requirements, including 3D models and drawings. The second part is devoted to the creation of simulation models of vehicles using the Lagrange equations of the second kind and using SimMechanics. Also PID and LQR regulators are designed, including the advantages and disadvantages of each regulator for this application. The last part is focused on electronics necessary to vehicle operating. They are mainly power electronics (H-bridge, battery charger, switching supply of voltage board). There are also necessary calculations, complete PCB design and a description of the rmware for the this specifc device.
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Design of a fault-tolerant control system for a self-balancing two-wheel vehicle
Matějásko, Michal ; Zouhar, František (referee) ; Grepl, Robert (advisor)
Tato práce se zabývá návrhem nového řídícího systému, odolného proti chybám, pro nestabilní samo-balancující dvoukolové vozidlo typu Segway. Původní systém vozidla je podroben analýze rizikovosti jeho součástí a na základě výsledků jsou navržena opatření pro zvýšení jeho bezpečnosti. Je navržena nová topologie řídícího systému obsahující dvě samostatné řídící jednotky, redundantní senzoriku a voter. Pro řídící jednotky byl vyvinut software obsahující bezpečnostní algoritmy a mechanismy přepínání kontrolních výstupů. V práci jsou také představeny dva matematické modely vozidla různé složitosti, které jsou následně využity při HIL testování nově navrženého systému. Celý návrh byl proveden s využitím nástrojů pro Rapid Control Prototyping.
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Robot virtual prototype in ADAMS
Příleský, Libor ; Krejsa, Jiří (referee) ; Hadaš, Zdeněk (advisor)
Tato práce se zabývá vytvořením virtuálního modelu robotu v ADAMS a co-simulačním propojením tohoto modelu s návrhem řízení v Matlab/Simulink. Robotem je segway Pierot vytvořený v rámci předchozích závěrečných prací. Obsahem této práce je vytvoření multi-body modelu, volba pohonu vytvoření co-simulačního propojení a samotná co-simulace.
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System identification, sensory system and implementation of control algorithm for unstable balancing vehicle
Štěpánek, Jan ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
This work deals with design and construction of unstable double wheeled Segway-like vehicle built for human personnel transportation and its smaller scaled clone developed for control algorithms testing. The smaller machine is controlled via Joystick and PC. This work was conducted in team consisting of three students. Individual goals are described in chapter „Stanovení cílů práce“. The beginning of the work deals with researching any similar projects concerned with this topic, especially with sensors and control algorithms used. Further, the work describes the process of choosing used electronics and its parameters. One of the problems faced during the work was the pitch angle of the vehicle base calculation - algorithm of the angle calculation had been designed by students of several world universities. The principle of how it works was studied and then tested by simulations and practically in the following chapters. Further on, the work deals with platform‘s parameter estimation, at first the testing platform made of wood, followed by the final platform made of aluminium. Parameter estimation was realized by using the multifunctional I/O card Humusoft MF 624 for PC. Part of the work deals with the final control algorithm on the dsPIC microcontroller implementation, sensor‘s outputs calculation and calibration algorithm design. Since the vehicle is built for human personnel transportation, implementation of certain safety algorithms was necessary. These algorithms should be able to detect possible fail states and prevent the driver from losing control over the vehicle in order to prevent any injuries.
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Design of a fault-tolerant control system for a self-balancing two-wheel vehicle
Matějásko, Michal ; Zouhar, František (referee) ; Grepl, Robert (advisor)
Tato práce se zabývá návrhem nového řídícího systému, odolného proti chybám, pro nestabilní samo-balancující dvoukolové vozidlo typu Segway. Původní systém vozidla je podroben analýze rizikovosti jeho součástí a na základě výsledků jsou navržena opatření pro zvýšení jeho bezpečnosti. Je navržena nová topologie řídícího systému obsahující dvě samostatné řídící jednotky, redundantní senzoriku a voter. Pro řídící jednotky byl vyvinut software obsahující bezpečnostní algoritmy a mechanismy přepínání kontrolních výstupů. V práci jsou také představeny dva matematické modely vozidla různé složitosti, které jsou následně využity při HIL testování nově navrženého systému. Celý návrh byl proveden s využitím nástrojů pro Rapid Control Prototyping.
|
|
|
Control of laboratory model of unstable balancing vehicle
Horák, Petr ; Zavadinka, Peter (referee) ; Grepl, Robert (advisor)
This diploma thesis is a part of HUMMER project. The project deals with three student’s development of two-wheeled unstable vehicle Segway type and its diminished laboratory model. This thesis deals with reviviscence of laboratory model, design of its control and realization of its actuating (a more detailed breakdown of tasks in the project is shown below). At the beginning of the work is presented reviewed study. The first part of study deals with similar models in the world, their construction and way of control. In the next part of reviewed study follows description of a real model and derivation of model basic equations, in the last part of search is given principle of operation of some used sensors. The next step was the selection and design of required electronics. In this capture are described all designed electronic modules and used sensors. There are also given parameters of used batteries and motors. The next task was the estimation of system parameters. The estimation was made by sections, in the capture is in detail described way of measuring data and structuring of estimation model. The penultimate step was design of PID and LQR controller using I/O card MF 624 and their comparing. Following thing was choice of better regulator and its implementation to the microprocessor. The last step was the realization of actuating driving of model by joystick and supreme PC.
|
|
|
System identification, sensory system and implementation of control algorithm for unstable balancing vehicle
Štěpánek, Jan ; Vejlupek, Josef (referee) ; Grepl, Robert (advisor)
This work deals with design and construction of unstable double wheeled Segway-like vehicle built for human personnel transportation and its smaller scaled clone developed for control algorithms testing. The smaller machine is controlled via Joystick and PC. This work was conducted in team consisting of three students. Individual goals are described in chapter „Stanovení cílů práce“. The beginning of the work deals with researching any similar projects concerned with this topic, especially with sensors and control algorithms used. Further, the work describes the process of choosing used electronics and its parameters. One of the problems faced during the work was the pitch angle of the vehicle base calculation - algorithm of the angle calculation had been designed by students of several world universities. The principle of how it works was studied and then tested by simulations and practically in the following chapters. Further on, the work deals with platform‘s parameter estimation, at first the testing platform made of wood, followed by the final platform made of aluminium. Parameter estimation was realized by using the multifunctional I/O card Humusoft MF 624 for PC. Part of the work deals with the final control algorithm on the dsPIC microcontroller implementation, sensor‘s outputs calculation and calibration algorithm design. Since the vehicle is built for human personnel transportation, implementation of certain safety algorithms was necessary. These algorithms should be able to detect possible fail states and prevent the driver from losing control over the vehicle in order to prevent any injuries.
|
|
|
Design of construction, control and electronics for unstable balancing vehicle
Zouhar, František ; Krejčí, Petr (referee) ; Grepl, Robert (advisor)
Thesis deals with design of construction, control and electronics for unstable balancing vehicle. The rst part is focused on the determination of requirements for the function and then design and manufacture of structure in line with set requirements, including 3D models and drawings. The second part is devoted to the creation of simulation models of vehicles using the Lagrange equations of the second kind and using SimMechanics. Also PID and LQR regulators are designed, including the advantages and disadvantages of each regulator for this application. The last part is focused on electronics necessary to vehicle operating. They are mainly power electronics (H-bridge, battery charger, switching supply of voltage board). There are also necessary calculations, complete PCB design and a description of the rmware for the this specifc device.
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