|
|
High order numerical method in modelling and control systems
Veigend, Petr ; Horák, David (referee) ; Schirrer, Alexander (referee) ; Šátek, Václav (advisor)
Systémy pro řízení a regulaci jsou používány téměř ve všech průmyslových oblastech. Pro jejich modelování se často používají diferenciální rovnice, které popisují dynamické chování těchto systémů a umožňují je detailněji analyzovat z hlediska přesnosti, stability, výkonu a reakcí těchto systémů v reálném čase. V této oblasti se běžně nepoužívají metody vyšších řádů, protože vykonávají velké množství operací. Tato práce zkoumá numerické řešení obyčejných diferenciálních rovnic s použitím metody s proměnným řádem a proměnnou velikostí kroku, která je založena na Taylorově řadě. Metoda je navržena jak pro lineární, tak pro nelineární problémy a jsou implementovány její optimalizace pro snížení výpočetního času bez degradace jejích vlastností. Pozitivní vlastnosti metody jsou demonstrovány na sadě příkladů z technické praxe. Výsledky práce ukazují, že metoda založena na Taylorově řadě může být použita v oblasti řízení a regulace a má lepší vlastnosti než běžně používané metody.
|
|
|
HIL test stand for universal electronic control units
Zouhar, Štěpán ; Musil, Filip (referee) ; Brablc, Martin (advisor)
This diploma thesis is focused on testing of Electronic Control Units, especially functional testing in which hardware and software is verified and also Model in the Loop, Software in the Loop, Processor in the Loop and Hardware in the Loop testing methods. Within practical part of this thesis testing stand for functional test of the ECU was developed and manufactured. It is connected to PC via Input/Output card, testing is controlled by MATLAB script. Whole process of testing is automated from initial upload of testing firmware to tested ECU over all phases of test up to bootloader flashing. Hardware in the Loop test was also created, in which ECU works as controller and DC motor is simulated in real time with PC in MATLAB environment.
|
|
|
Application of discrete simulation in support of the conveyor technology design
Prokop, Aleš ; Štoček, Jiří (referee) ; Škopán, Miroslav (advisor)
This diploma thesis deals with analysis of current state of the paint shops M11A and M11B in Mladá Boleslav and following creation of the universal simulation model of the paint shop M11A in the company Škoda Auto a.s. by which availability of daily production in different input parameters will be verify. The model of the paint shop M11A will be created in system SimPro which comes under the programs working with discreet simulation. The model input parameters will be defined in the program Excel. According to these experiments will be possible realized a detailed analysis of results of the simulation.
|
|
|
Mobile robot control system
Kalina, Michal ; Veselý, Libor (referee) ; Hynčica, Ondřej (advisor)
This thesis deals with building of two-wheeled mobile robot and consecutive creation of drivers and control for sensors, engines and controller design. The control is based on Arduino platform using ATmega328 processor. Firstly there is in this thesis recherche. Part of this thesis is modelling one where simulation model of our system is created, its linearization and then controller design. Further it contains description of the building robots body, description and functionallity of used engines, description of all sensors and detailed description of available printed circuit board. In the end there is software part where the engines control is described, operation of the sensors and functionallity of the controller. Result of this thesis is function application of controlling and operating of two-wheeled unstable mobile robot.
|
|
|
Self-Organization in Large Distributed Systems
Kunštátský, Martin ; Řezníček, Ivo (referee) ; Šperka, Svatopluk (advisor)
Gossip is a generic protocol which was designed for spreading information between nodes in large distributed decentralised systems. This protocol can be also used for many different applications including data aggregation, topology construction, etc. This work presents and describes a framework designed for facilitating modelling and simulation of Gossip-based systems.
|
|
|
The making of 3D electronics catalogs
Spousta, Martin ; Dvořák,, Jiří (referee) ; Dvořák, Jiří (advisor)
This Bachelor thesis deals with problems of making 3D electronics catalogues for their widely usage. It contains the description of current level of electronics catalogues, theoretical solution of the problem with description of advantages, disadvantages and warrant of new solution. It contains the practical solution as well.
|
|
|
Traffic Modelling Based on Cellular Automata
Hodaňová, Andrea ; Martinek, David (referee) ; Peringer, Petr (advisor)
Among many other fields of science, cellular automata play an important role also in the microsimulations of traffic. In this thesis, we analyze the characteristics of a wide range of cellular automata traffic models from the most simple deterministic ones to complex stochastic automata derived from the pivotal Nagel-Schreckenberg model, which is thoroughly described. As a result of this analysis, a generally usable traffic simulator is designed and implemented in the Java programming language. Its graphical user interface can visualise the state of a road CA to display the key features of the implemented traffic models to the user.
|
|
|
Modelling and control of wheeled mobile robots
Sypták, Michal ; Šembera, Jaroslav (referee) ; Šolc, František (advisor)
Control of wheeled chassis does not constitute a problem in the area of mobile robotic solely. Rather, it can be encountered in transportation, both at close range and long range. In this thesis, mobile chassis are characterized as kinematic models. These models prove to be erroneous at high speed, whereas they sufficiently accurately represent the real robotic system in situations when slow, autonomous motion of the robot is desired. In comparison with dynamic models, both their project and implementation are simpler, too. The first part of this thesis is focused on a basic description of the motion of a robot in-plane. In the next part, five, most frequently used wheels in robotics are described and characterized - standard fixed wheels, standard steering wheels, castor wheels, multidirectional wheels and omnidirectional wheels. The motion conditions are deduced from each type of wheel. There are two methods of projecting the mobile robot model – full modelling and generic modelling. Based on these two methods, six models of mobile robots with different motion properties are proposed and described. The last and most extensive part of this thesis deals with simulator of robot motion created in Matlab/Simulink. It includes users guide which allows the configuration of random chassis and various trajectories of motion. In this way, it is possible to visually evaluace and classify the the different types of robots. The core of this thesis is largely connected with the field of odometry – i.e. transformation output from speed sensor and turning of wheels sensor into the robot position in the system of coordinates that defines its working space. Simulator as complex only model motion of mobile robots in plain. Its inside structure included algoritms, that have been used in praxis for control real mobile robots. In this way created Simulator models the motion of mobile robots in-plain only. However, its inside structure is based on algorithms, that could be used for control of real mobile robots in real-life working.
|
|
|
Modelling and HIL Simulation of Vehicle Boot Door Control
Musil, Filip ; Matějásko, Michal (referee) ; Brablc, Martin (advisor)
This diploma thesis focuses on an analysis, a model creation and simulations of a car boot door mechanism. The problem was analyzed on the basis of real measurements made on three different vehicles. Based on the measurements, computational models describing the real system at different levels of complexity were created. Matlab/Simulink was used to create and calculate the models. The output of the thesis is the simulator of a car boot door which also includes simplified model of a control unit. The simulator should provide an approximation of current and kinematic quantities of these mechanisms. The model is implemented on dSPACE platform that allows real-time simulations. The simulator can be modified in terms of changing the parameters of the mechanism and modifying some of its results.
|
|
| |
guest ::
