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Mobile robot control system
Bugár, Loránt ; Jílek, Tomáš (referee) ; Hynčica, Ondřej (advisor)
Bachelors project is fixated for creating a mobile robot with a real time operating system. The robot control system is based on a microcontroller Arduino with ARM Cortex-m3 processor. The practical part is dealing with resolving the client-server communication with the UDP protocol, also with the identification of the engine from measured data’s by the Simulink and subsequently designing the PI regulator from the identificated data’s. In he last part of the work the focus is giving to solving the communication with I2C bus and using sensors like : accelerometer, ultrasonic sensor, infra sensor, light sensor, hall sensor and usage of a robotic arm. An application is created for controlling the robot and for visualisation of sensor readings..
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Industrial PID controller with visualization and bumpless switching
Kupčík, Michal ; Chomát, Luděk (referee) ; Pivoňka, Petr (advisor)
This work informs reader about different program implementation of PID controller. Next it contains description of four basic events, which cause bump switching. For each of these four events is made analysis, why bump is caused and subsequently is made description, how to eliminate these bumps. The result is set of equations, which properly adjust regulators parameters. On big number of graphs there is proved, that after application of these equations, switching become bumpless. Another part of this dokument is a description, how to illustrative demonstrate bumpless switching in MATLAB's script, in B&R's virtual control system AR000 and on real system, whitch will be controled by B&R's control system type Power Panel.
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Electronic speed controller
Šimbera, Michal ; Kučera, Pavel (referee) ; Svída, David (advisor)
The thesis deals with the design, realisation and functional verification of an electronic cruise control unit. Required inputs, outputs and controller of the control unit are identified first. The design and layout of the electronical components, including the processor, power supply and other necessary hardware is discussed. The algorithm for the control unit is developed in C/C++ and thoroughly analysed. The functionality of the cruise control unit equipped with the algorithm is verified through a case study performed on a combustion engine.
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Industrial PID controller with autotuning and visualisation
Vávra, Pavel ; Dvořáček, Martin (referee) ; Pivoňka, Petr (advisor)
This thesis deals with implementation of industrial used controlling block into Power Panel equipment of B&R in integrated development environment Automation Studio 3.0.71. It is PID controller with autotuner and visualization, which allowed bumpless transfer among controlling algorithms and manual control. PID and I-PD controllers with filtering of derivative action and dynamic antiwindup were implemented. Parameters of PID controller is possible to tune with the aid of ultimate gain and ultimate period according rules of Ziegler-Nichols. Ultimate parameters of controlled plant is possible to acquire with the aid of two identification methods, recursive least squares method and relay feedback. Recursive least squares method was implemented with directional forgetting. For relay feedback were used two types of relays: ideal and saturation relay for improving accuracy of searched ultimate values. The whole solution is programmed in ANSI C which Automation Studio supports. Created controller is control with the aid of touchscreen which is integrated in Power Panel. Trends of process values are viewed on the screen too. For comparison adaptive controller by B&R was implemented. This contoller is standardly supplied with Automation Studio in LoopConR library. All created algorithms were first validated on mathematical model of plant and then on real model in laboratory. The first part of thesis deals with theoretic analysis of used methods. The practical realization is described in the second part of this diploma thesis.
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Hybrid Control System for Quadrocopter
Sojka, Stanislav ; Mlích, Jozef (referee) ; Dittrich, Petr (advisor)
This thesis deals with the design and theoretical description of the hybrid control system for quadrocopter. First, a mathematical model is presented, sensors needed for development and their principles. This work shows the system architecture design and scheme of communication channels between the blocks. Implementation section discusses specific uses of computing nodes/sensors and their settings. In this thesis there are illustrated messages sent between computing nodes and the control loop machine. It also describes how to test the sensors, measurement results and techniques for improvement.
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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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Control and Position Stabilization of a Small Flying Drone
Martinec, Adrián ; Zamba, Martin (referee) ; Strnadel, Josef (advisor)
The goal of this thesis is to create a drone in a form of a plane, driven by autopilot. I have solved the selected issues using a theory of flight and regulators from an automatization area. The text describes a functional solution. Unfortunately because of an accident, no final tests were performed. A contribution of this work is in exploring a functionality of various parts that are used with a drone building process. That includes a use of regulators and creation of libraries driving those parts.
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Self-Driving of a Model Car
Hazucha, Ivan ; Šimek, Václav (referee) ; Bidlo, Michal (advisor)
The aim of this thesis is to demonstrate options for self-driving model cars, focused on local path planning methods and obstacle avoidance. As a part of the project, the model was supplemented by a computing platform Raspberry Pi and appropriate sensors. Specifically, a 2D LiDAR sensor was used for detection and measuring the distance of surrounding objects, an incremental rotary encoder for measuring the distance travelled and current speed, and a gyroscope to keep track of the vehicle's relative orientation. Subsequently, a control system was implemented. This system is able to receive and process sensor data, use it to estimate vehicle's current location, compute an optimal trajectory in an uncharted environment, and control the vehicle's actuators accordingly. The result is a functional model car able to navigate in an unknown environment and reach specified goals by following a trajectory, dynamically generated depending on the surrounding obstacles.
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Algorithm for Reduction of Force Fight on Airplane Control Surface
Szásziová, Lenka ; Klusáček, Ondřej (referee) ; Tomáš, Jan (advisor)
Digitální Fly-by-Wire systém je novým přístupem k řídícímu systému letadla, na jehož základě firma Honeywell - HTS CZ začala výzkumný projekt s názvem “Next Generation Distributed Fly-by-Wire System” a tato práce je jeho součástí. Řídící plochy letadla jsou řízeny dvěma nebo třemi elektrohydraulickými (či elektrickými) servy a každé servo je ovládáno nezávislou řídící jednotkou. Díky provozním tolerancím systému a drobným odchylkám vstupních dat v řídících jednotkách, dostává každé servo mírně odlišné povely a rozdíl v poloze serv vede k namáhání řídící plochy i k namáhání serv. Hlavním cílem této práce je navrhnout algoritmus, který bude eliminovat rozdíly mezi polohami jednotlivých serv, a tudíž sníží sílu, která namáhá řídící plochu, na přípustnou mez. Implementace řídícího systému letadla byla do detailu analyzována a algoritmus redukce síly na kontrolní ploše letadla byl navržen a implementován v prostředí Simulink. Iterační kriteriální ladící metoda byla vyvinuta a za účelem co nejlepšího nastavení algoritmu redukce síly. Práce také analyzuje vliv časových zpoždení na sběrnici na kvalitu algoritmu redukce síly.
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