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NMPC Application for PMSM Drive Control
Kozubík, Michal ; Blaha, Petr (referee) ; Václavek, Pavel (advisor)
This thesis focuses on the possibilities of application of nonlinear model predictive control for electric drives. Specifically, for drives with a permanent magnet synchronous motor. The thesis briefly describes the properties of this type of drive and presents its mathematical model. After that, a nonlinear model of predictive control and methods of nonlinear optimization, which form the basis for the controller output calculation, are described. As it is used in the proposed algorithm, the Active set method is described in more detail. The thesis also includes simulation experiments focusing on the choice of the objective function on the ability to control the drive. The same effect is examined for the different choices of the length of the prediction horizon. The end of the thesis is dedicated to the comparison between the proposed algorithm and commonly used field oriented control. The computational demands of the proposed algorithm are also measured and compared to the used sampling time.
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Motion control of an aileron
Kotrlý, Michal ; Kozubík, Michal (referee) ; Veselý, Libor (advisor)
This bachelor’s thesis aims to design, assemble and test an electromechanical model of an aileron with a dual actuator configuration that would verify used control algorithms. Mainly those that mitigate force fight between actuators and reduce mechanical stress affecting lifespan of the aileron. Algorithms are implemented in a PLC which supplies power to actuators/sensors and controls the position and movement of the aileron.
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Data Profiling Using IPFIX Mediator
Kozubík, Michal ; Bartoš, Václav (referee) ; Kořenek, Jan (advisor)
This thesis deals with the network data profiling using IPFIX mediator. The main task is effective data filtering and configurable profiles management. The profiles management is still not available for IPFIX mediator, which makes analysis of network traffic for users more difficult. Therefore this thesis deals with the design and implementation of configurable profiles management as a plug-in for IPFIX mediator. The plug-in uses profiles hierarchy with filtering rules for data sorting.
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OpenModelica and Matlab-Simulink co-simulation
Szymanik, Adam ; Kozubík, Michal (referee) ; Václavek, Pavel (advisor)
This thesis solves co-simulation between OpenModelica and Matlab-Simulink. In the first part Modelica language, OpenModelica software and FMI standard are described. In the next part is proposal of solution through custom blocks and realization of those blocks. In last chapter are three examples to verify functionality of my solution.
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Anti-windup Schemes for Linear Dynamical Systems Control
Kozubík, Michal ; Pohl, Lukáš (referee) ; Václavek, Pavel (advisor)
The aim of this bachelor thesis is to study windup effect and methods of its compensation. Introduced methods are clamping, back-calculation, internal model control (IMC) and design based on solution of linear matrix inequalities (LMI). The Matlab tool was created for the last two methods. All mentioned methods were then tested on chosen systems by simulaton in Matlab Simulink. After that results of simulation were evaluated with respect to computational time, overshoot, settling time and ITAE criterion.
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Parallel optimization methods
Marcina, Tomáš ; Kozovský, Matúš (referee) ; Kozubík, Michal (advisor)
The work is concerned on the comparison of different algorithms designed for the optimization of multidimensional functions. Specifically, it deals with population optimization methods, which are generally suitable for parallelizing the calculation of the optimal function value. The functions are implemented in program Matlab and on the NVIDIA CUDA platform. It compares several different algorithms suitable for this. At the end, the advantages and disadvantages of individual algorithms are summarized.
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Finite Control Set Based On The Voltage Vector Representation Of Switching State
Kozubík, Michal
This paper introduces novel approach in the implementing of finite control set modelpredictive control for the permanent magnet synchronous motor. This approach is based on the pregeneratingof voltage vectors based on the specific switching state of voltage source inverter. Thelimitation of the pre-generating is based on the resolution of encoder used to measure mechanicalangle of rotor. Proposed algorithm is described and tested in PIL simulation using Jetson Nano, forthe control algorithm execution, and Simscape model of motor.
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Interpreting Constraints In Finite Control Set Model Predictive Control
Kozubík, Michal
Aim of this paper is to show the possibilities of interpreting the constraints while using finite control set model predictive control. Paper explains the problem of the barrier functions and shows typical example. New possible candidates to barrier function are introduced in this article. All candidates are tested on the problem of the finite control set model predictive control of the PMSM drive control.
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