Identification of systems with time-delay using test relay
Supervisor: doc. Ing. František Dušek, CSc.
The work is devoted to issues of identification of system with time delay. Analysis was performed for method of relay in the feedback. A simulation program in MATLAB computational environment, that simulates the identification process for predefined types of transfer function, was developed. The calculation is divided into theoretical part and simulation part, which runs in SIMULINK. At the conclusion of this thesis is the evaluation of the method and testing the program.
Construction and control of unstable mobile robot chassis
Supervisor: Ing. Libor Havlíček, Ph.D.
The aim of the diploma thesis is to design and construct a two-wheeled autonomous balancing robot. Due to natural instability this type of robot is suitable for testing stability and control algorithms. The proposed control system for an unstable chassis of a balancing robot is realized by a discrete control unit, actuators and an inertial measurement unit consisting of an accelerometer and a gyroscope. The physical model of the robot was tested by stabilization a control algorithm, and positive results were achieved. This proposed system offers many applications for future development in this area.
Constrained model predictive control of laboratory system
Supervisor: Ing. Daniel Honc, Ph.D.
This thesis deals with predictive control with consideration of constraints. The aim of the work in the theoretical part is to analyze topics such as modeling and identification of the controlled system, linearization and analysis of the predictive controller based on the statespace model. In the practical part the aim is to design a predictive controller under consideration of constrained inputs, states and outputs for the laboratory system GUNT RT 010 and comparing the results for different settings.
Model form effect on predictive control process
Supervisor: Ing. Daniel Honc, Ph.D.
The thesis is oriented to the issue of model form effect on predictive control process. The mathematical model of the hydraulic-pneumatic system is derived and predictive controller with GPC algorithm is designed. Models, which are used in the controller are getting by linearization of the nonlinear model and approximation of the real system step response. The model form effect is demonstrated on a selected control process.
Methods of self-tuning PID controllers
The aim of this work is the theoretical analysis of the self-adjustment methods PID controllers used in industrial control. Part of the work will be to compare and evaluate the selected methods based on simulation experiments in Matlab Simulink. Monitoring will mainly describe ways of obtaining a controlled process, the possibility of a user specification of management objectives (definition of response speed, size overshoot, etc.) and the technique of calculating the parameters. The practical part contain the testing of the selected method by using specialized software to PMA controllers available in the laboratory.
Design and software implementation of discrete controllers with optimized structures
The thesis describes the theoretical design, software implementation and simulation verify the operation of the discrete controllers with optimized structure. For controller design are utilized resources algebraic theory of synthesis of control circuits. In the practical part are specified verification activities of discrete controllers optimized for good suppression of interference, attainment of requested value and for both of this cases simultaneously (controllers with two degrees of freedom), when considered regulatory processes in the final and in a minimum number of control steps. The work also includes an evaluation of the results.
Implementation of control system of twin-rotor laboratory system in LabVIEW
The aim of the thesis is to create a control application in LabVIEW environment, connected with a twin-rotor laboratory system using communication card NI USB 6009. The Control application has two parts. The first part is used to manually control the laboratory system, and it stores all the necessary experimental measured data. The second part contains the control algorithm implemented in the form of a PID controller that enables automatic regulation. The manual and automatic modes are switchable. The thesis also deals with the experimental identification of a twin-rotor system and the creation of mathematical models in the form of transfer functions which are the basis for the design of PID controllers.
Simulation of a state control of dynamical systems in LabVIEW
The aim is to create an application in LabVIEW using simulation tools Control Design and Simulation Module. The application will be used for modeling and simulation of various types of dynamic processes, construction of static and dynamic characteristics and their subsequent control by state regulators. Attention will be given to verify the robustness of the proposed control algorithms, which will also include estimators full or reduced order.