|
|
Control algorithms for e-car
Hrazdira, Adam ; Fiedler, Petr (referee) ; Zezulka, František (advisor)
Cílem práce byl návrh a implementace řídicích algoritmů pro optimalizaci spotřeby energie elektrického vozidla. Hlavním úkolem byla optimalizace rozložení energie mezi hlavním zdrojem energie (bateriemi) a super-kapacitory v průběhu jízdního cyklu. Jízdní výkonový profil je odhadován a předpovězen na základě 3D geografických souřadnic a matematického modelu vozidla. V první části jsou uvedeny komponenty vozidla a jejich modely. Poté jsou představeny algoritmy na základě klouzavého průměru a dynamického programování. Byly provedeny simulace a analýzy pro demostraci přínosů algoritmů. V poslední části je popsána Java implementace algoritmů a také aplikace pro operační systém Android.
|
|
|
Design of experimental mobile robot
Blatoň, Jan ; Řezníček, Svatopluk (referee) ; Čoupek, Pavel (advisor)
This bachelor´s thesis solves a design, structural design and subsequent vehicle body manufacture of experimental mobile robot Car4. The aim is proposition of uncommon and timeless vehicle body provided that all technical and technological requirements are complied. Emphasise is placed on unconventional appearance, functionality, resistence and manufacturability.
|
|
|
Modeling and simulation of robust control algorithms for BLDC motors
Smilek, Jan ; Hrbáček, Jan (referee) ; Toman, Jiří (advisor)
This thesis focuses on developing algorithms for brushless AC motor control. First part of the thesis contains derivation of mathematical model and overview of selected sensor and sensorless control methods. Second part introduces simulation model of the motor, developed in Matlab/Simulink environment, with usage of SimPowerSystems toolbox. Following chapter describes realization of control algorithm, utilizing Hall sensors and position estimation. After that, sensorless rotor position estimation module is developed, and its implementation into the model is mentioned. Last chapters deal with development of graphical user interface, meant for changing selected motor and control parameters, and they also summarize and compare achieved results.
|
|
|
Control unit for BLDC motor
Krejčí, Ondřej ; Cipín, Radoslav (referee) ; Procházka, Petr (advisor)
This master„s thesis elaborates with EC motors problematic. There are described essential features of brushless DC motors, their principles, construction and methods for rotor position detection. There are mentioned commonly used control algorithms of EC motors including theory of three-phase convertors. This thesis also contains a complex design of the universal convertor for EC motor and its practical implementation. Power parts losses calculation, heat-sink calculation and measurements at the convertor prototype are also described in this thesis.
|
|
|
Strategic Game with Uncertainity
Gerža, Martin ; Zbořil, František (referee) ; Zbořil, František (advisor)
This thesis focuses on the implementation of a system for playing the board game Scotland Yard autonomously and also focuses on a comparison of this system with similar ones. I focused on obtaining enough information about the possible methods that should be suitable for such a system and decided to implement this system using the Monte Carlo Tree Search method. The result implementation of the system was tested against similar systems, achieving an excellent result against another system that used an equivalent method. There was achieved a balanced result against a system that used the Alpha-Beta method. The main result of this work is a working version of an autonomous system for playing the game Scotland Yard on a reduced field. It also provides the possibility of using two similar systems within a single program in order to compare their implementations.
|
|
|
On a stepladder model walking (with and without a decorator)
Polach, P. ; Prokýšek, R. ; Papáček, Štěpán
This work is related to our previous studies on underactuated biped robot models and has been motivated by the need to implement the previously developed sensor and control algorithms for the real-time movement of the laboratory walking robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation of the Czech Academy of Sciences [1, 6, 7]. Underactuated biped robots with an upper body form a subclass of legged robots, see, e.g., [4] for a review on the control of underactuated mechanical systems and [2] for a study of an asymptotically stable walking for biped robots. It is obvious that in general, the walking control of underactuated walking robots is a more challenging problem than walking control of fully actuated walking robots. As follows, we examine the well-known mechanical system of the stepladder model with and without a decorator, whose role is substituted by an external inertial force according to the D’Alembert principle. It is well known, that stepladder walking is possible due to the periodic movement (pendulating) of an operator – decorator1 The rigorous dynamical analysis of stable cyclic walking of a class of stepladder models is presented in the next section.
|
|
|
Strategic Game with Uncertainity
Gerža, Martin ; Zbořil, František (referee) ; Zbořil, František (advisor)
This thesis focuses on the implementation of a system for playing the board game Scotland Yard autonomously and also focuses on a comparison of this system with similar ones. I focused on obtaining enough information about the possible methods that should be suitable for such a system and decided to implement this system using the Monte Carlo Tree Search method. The result implementation of the system was tested against similar systems, achieving an excellent result against another system that used an equivalent method. There was achieved a balanced result against a system that used the Alpha-Beta method. The main result of this work is a working version of an autonomous system for playing the game Scotland Yard on a reduced field. It also provides the possibility of using two similar systems within a single program in order to compare their implementations.
|
|
|
Control algorithms for e-car
Hrazdira, Adam ; Fiedler, Petr (referee) ; Zezulka, František (advisor)
Cílem práce byl návrh a implementace řídicích algoritmů pro optimalizaci spotřeby energie elektrického vozidla. Hlavním úkolem byla optimalizace rozložení energie mezi hlavním zdrojem energie (bateriemi) a super-kapacitory v průběhu jízdního cyklu. Jízdní výkonový profil je odhadován a předpovězen na základě 3D geografických souřadnic a matematického modelu vozidla. V první části jsou uvedeny komponenty vozidla a jejich modely. Poté jsou představeny algoritmy na základě klouzavého průměru a dynamického programování. Byly provedeny simulace a analýzy pro demostraci přínosů algoritmů. V poslední části je popsána Java implementace algoritmů a také aplikace pro operační systém Android.
|
|
|
Modeling and simulation of robust control algorithms for BLDC motors
Smilek, Jan ; Hrbáček, Jan (referee) ; Toman, Jiří (advisor)
This thesis focuses on developing algorithms for brushless AC motor control. First part of the thesis contains derivation of mathematical model and overview of selected sensor and sensorless control methods. Second part introduces simulation model of the motor, developed in Matlab/Simulink environment, with usage of SimPowerSystems toolbox. Following chapter describes realization of control algorithm, utilizing Hall sensors and position estimation. After that, sensorless rotor position estimation module is developed, and its implementation into the model is mentioned. Last chapters deal with development of graphical user interface, meant for changing selected motor and control parameters, and they also summarize and compare achieved results.
|
|
|
Control unit for BLDC motor
Krejčí, Ondřej ; Cipín, Radoslav (referee) ; Procházka, Petr (advisor)
This master„s thesis elaborates with EC motors problematic. There are described essential features of brushless DC motors, their principles, construction and methods for rotor position detection. There are mentioned commonly used control algorithms of EC motors including theory of three-phase convertors. This thesis also contains a complex design of the universal convertor for EC motor and its practical implementation. Power parts losses calculation, heat-sink calculation and measurements at the convertor prototype are also described in this thesis.
|
guest ::
