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MATLAB/Simulink Model Based Design Using C2000 Microcontrollers
Šoupal, Ondřej ; Ctibor, Jiří (referee) ; Pazdera, Ivo (advisor)
The aim of this thesis is to explore possibilities of rapid control prototyping, describe the concept of creating the software application in MATLAB/Simulink environment with use for development kit Texas instruments LaunchPad and create an application for DC and induction motor control in this environment. This work describes the application for unipolar/bipolar control H-Bridge of power converter for DC motor, measurement of output currents, speed and its displaying in real time using serial control interface. This thesis also desribes scalar and vector control of induction motor. All software applications with measurements are created in MATLAB/Simulink and attached to the thesis.
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DESIGN OF METHODS AND TOOLS ACCELERATING THE SOFTWARE DESIGN FOR EMBEDDED PROCESSORS TARGETED FOR MECHATRONICS APPLICATIONS
Lamberský, Vojtěch ; Takács, Gergely (referee) ; Věchet, Stanislav (referee) ; Grepl, Robert (advisor)
The main focus of this dissertation thesis is on methods and tools which can increase the speed of software development process for embedded processors used in mechatronics applications. The first part of this work introduces software and hardware tools suitable for a rapid development and prototyping of new applications used today. This work focuses on two main topics from the mentioned application field. The first topic is a development of tools for an automatic code generation from the Simulink environment for an embedded processor. The second topic is a development of tools enabling execution time prediction based on a Simulink model. Next chapter of this work describes various aspects and properties of the Cerebot blockset, which is a toolset for a fully automatic code generation from a Simulink environment for an embedded processor. Following chapter describes various methods that are suitable for predicting the execution time on an embedded processor based on a Simulink model. Main contribution of this work presents the created support for a fully automatic code generation from a Simulink software for the MX7 cK hardware, which enables a code generation supporting also a complex peripheral (a graphic display unit). The next important contribution of this work presents the developed method for an automatic prediction of the software execution time based on a Simulink model.
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Design of embedded system for control of educational model of rotary pendulum
Jajtner, Jan ; Chalupa, Jan (referee) ; Grepl, Robert (advisor)
The basic aim of this work is to improve existing model of rotational inverted pendulum by adding new mechanical features, implement the control algorithm to dsPIC microcontroller and develop related control electronics thus extending the functionality of current model while making it more compact. The work contains derivation of dynamic equations both by means of analytical methods and multi-body formalism of SimMechanics. These are used to design a state controller stabilizing the pendulum in inverse position. In addition, parameters of the system are being estimated experimentally. Swing-up controller is developed to drive the pendulum to unstable position. Various state estimators are added to controller to improve the control process while comparing their overall performance. The last point is devoted to development of superior state-automaton designed to switch between different regulating modes including fail-detection algorithms providing smooth operation of the model.
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Technological process simulation
Dostál, Jiří ; Veselý, Libor (referee) ; Malounek, Petr (advisor)
This paper deals with a design of an inverted pendulum model and its controller in Matlab/Simulink, a conversion of the model and its controller to the ANSI C language and its implementation to B&R PLC's. The source code for B&R PLC's is generated automatically by the B&R Automation Studio Target for Simulink library. The first part deals with the design of a mathematical model of the inverted pendulum and its simulation in Matlab/Simulink, followed by a design of a LQ controller for this model using Matlab functions and a description of the B&R Automation Studio Target for Simulink library. The last part of this paper deals with the implementation of the model and its controller into two separate B&R PLC's, which are networked with the Ethernet Powerlink industrial fieldbus and it also describes visualizations that were designed for operating the system.
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Asynchronous motor control using an automatic code generation tool
Jochec, Jan ; Knobloch, Jan (referee) ; Pazdera, Ivo (advisor)
This thesis deals with the control of an asynchronous motor in MATLAB/Simulink using the automatic code generation tool in C. The aim of the thesis is to learn about the theory of asynchronous motor control, the programming and simulation tool X2C and also the laboratory stand for asynchronous motor control. Furthermore, the aim of the thesis is to create models of scalar and vector asynchronous motor control and then test one of them on the laboratory stand to verify its functionality.
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MATLAB/Simulink Model Based Design Using C2000 Microcontrollers
Šoupal, Ondřej ; Ctibor, Jiří (referee) ; Pazdera, Ivo (advisor)
The aim of this thesis is to explore possibilities of rapid control prototyping, describe the concept of creating the software application in MATLAB/Simulink environment with use for development kit Texas instruments LaunchPad and create an application for DC and induction motor control in this environment. This work describes the application for unipolar/bipolar control H-Bridge of power converter for DC motor, measurement of output currents, speed and its displaying in real time using serial control interface. This thesis also desribes scalar and vector control of induction motor. All software applications with measurements are created in MATLAB/Simulink and attached to the thesis.
|
|
|
DESIGN OF METHODS AND TOOLS ACCELERATING THE SOFTWARE DESIGN FOR EMBEDDED PROCESSORS TARGETED FOR MECHATRONICS APPLICATIONS
Lamberský, Vojtěch ; Takács, Gergely (referee) ; Věchet, Stanislav (referee) ; Grepl, Robert (advisor)
The main focus of this dissertation thesis is on methods and tools which can increase the speed of software development process for embedded processors used in mechatronics applications. The first part of this work introduces software and hardware tools suitable for a rapid development and prototyping of new applications used today. This work focuses on two main topics from the mentioned application field. The first topic is a development of tools for an automatic code generation from the Simulink environment for an embedded processor. The second topic is a development of tools enabling execution time prediction based on a Simulink model. Next chapter of this work describes various aspects and properties of the Cerebot blockset, which is a toolset for a fully automatic code generation from a Simulink environment for an embedded processor. Following chapter describes various methods that are suitable for predicting the execution time on an embedded processor based on a Simulink model. Main contribution of this work presents the created support for a fully automatic code generation from a Simulink software for the MX7 cK hardware, which enables a code generation supporting also a complex peripheral (a graphic display unit). The next important contribution of this work presents the developed method for an automatic prediction of the software execution time based on a Simulink model.
|
|
|
Design of embedded system for control of educational model of rotary pendulum
Jajtner, Jan ; Chalupa, Jan (referee) ; Grepl, Robert (advisor)
The basic aim of this work is to improve existing model of rotational inverted pendulum by adding new mechanical features, implement the control algorithm to dsPIC microcontroller and develop related control electronics thus extending the functionality of current model while making it more compact. The work contains derivation of dynamic equations both by means of analytical methods and multi-body formalism of SimMechanics. These are used to design a state controller stabilizing the pendulum in inverse position. In addition, parameters of the system are being estimated experimentally. Swing-up controller is developed to drive the pendulum to unstable position. Various state estimators are added to controller to improve the control process while comparing their overall performance. The last point is devoted to development of superior state-automaton designed to switch between different regulating modes including fail-detection algorithms providing smooth operation of the model.
|
|
|
Technological process simulation
Dostál, Jiří ; Veselý, Libor (referee) ; Malounek, Petr (advisor)
This paper deals with a design of an inverted pendulum model and its controller in Matlab/Simulink, a conversion of the model and its controller to the ANSI C language and its implementation to B&R PLC's. The source code for B&R PLC's is generated automatically by the B&R Automation Studio Target for Simulink library. The first part deals with the design of a mathematical model of the inverted pendulum and its simulation in Matlab/Simulink, followed by a design of a LQ controller for this model using Matlab functions and a description of the B&R Automation Studio Target for Simulink library. The last part of this paper deals with the implementation of the model and its controller into two separate B&R PLC's, which are networked with the Ethernet Powerlink industrial fieldbus and it also describes visualizations that were designed for operating the system.
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