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Robot Controlled by PIC Microprocessor Unit
Heřman, Petr ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This thesis describes design of a cheap robot. It includes implementation of firmware of low level control unit based on microcontroller PIC. The firmware drives motors, gains sensors data and communicates with the high level control unit. Furthermore the thesis presents realisation of connection to the robotic operation system ROS and its standard structures allowing usage of existing packages for the robot teleoperation and displaying sensor data on the remote computer. The thesis finally reports experiments with the robot. The constructed prototype is the model of the robotic lawn mower, however the whole solution has universal usage.
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Measurement of the Magnetic Field
Šimberský, Michal ; Uher, Miroslav (referee) ; Fialka, Jiří (advisor)
This bachelor thesis deals with the measurement of the magnetic field and sensors, which can scan the magnetic field. In this work is explained the principle of Hall probes and three types of magnetic field sensors based on magnetoresistive principles namely AMR, GMR and TMR sensors. The thesis also deals with the generation of a homogeneous magnetic field with Helmholtz coils and design of such a coil.
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Permanent magnet synchronous motor control with respect to simplicity of the realization
Vybíral, Ondřej ; Pohl, Lukáš (referee) ; Blaha, Petr (advisor)
This thesis deals with the problem of control of permanent magnet synchronous motor. The introduction describes division of motors according to the structure and with the stress on the BLDC motor. Control methods are also discussed there including clarification of concepts related to the control itself. The advantages and disadvantages of individual methods are compared. Six-step commutation was chosen based on the simple implementation criterion. The work includes Simulink simulation, simulating the BLDC motor LINIX 45ZWN24-40 controlled by six-step commutation. The thesis contains a comparison of simulated motor speeds at various control parameters. The conclusion of the thesis deals with the possibilities for subsequent implementation.
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Permanent magnet synchronous motor control with respect to simplicity of the realization
Vybíral, Ondřej ; Pohl, Lukáš (referee) ; Blaha, Petr (advisor)
This thesis deals with the problem of control of permanent magnet synchronous motor. The introduction describes division of motors according to the structure and with the stress on the BLDC motor. Control methods are also discussed there including clarification of concepts related to the control itself. The advantages and disadvantages of individual methods are compared. Six-step commutation was chosen based on the simple implementation criterion. The work includes Simulink simulation, simulating the BLDC motor LINIX 45ZWN24-40 controlled by six-step commutation. The thesis contains a comparison of simulated motor speeds at various control parameters. The conclusion of the thesis deals with the possibilities for subsequent implementation.
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Measurement of the Magnetic Field
Šimberský, Michal ; Uher, Miroslav (referee) ; Fialka, Jiří (advisor)
This bachelor thesis deals with the measurement of the magnetic field and sensors, which can scan the magnetic field. In this work is explained the principle of Hall probes and three types of magnetic field sensors based on magnetoresistive principles namely AMR, GMR and TMR sensors. The thesis also deals with the generation of a homogeneous magnetic field with Helmholtz coils and design of such a coil.
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|
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Robot Controlled by PIC Microprocessor Unit
Heřman, Petr ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This thesis describes design of a cheap robot. It includes implementation of firmware of low level control unit based on microcontroller PIC. The firmware drives motors, gains sensors data and communicates with the high level control unit. Furthermore the thesis presents realisation of connection to the robotic operation system ROS and its standard structures allowing usage of existing packages for the robot teleoperation and displaying sensor data on the remote computer. The thesis finally reports experiments with the robot. The constructed prototype is the model of the robotic lawn mower, however the whole solution has universal usage.
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