This diploma thesis concernes with the realization of a control system for hydraulic manipulator. It is devided into three main parts. The first part concerns sensors and actuators, which are used at the hydraulic manipulator. The second part describes design, production and programming of electronic control sub-system. The last part describes high level control software, created in the LabVIEW environment.

This masters thesis deals with the possibilities of SinuTrain Operate 2.6 software, used for programming CNC machine tools. The first part of the thesis is devoted to concise treatise on workshop programming in SinuTrain Operate 2.6, the possibilities of ShopTurn system and the issue of difficult to machine materials. The second part is focused on the preparation of technical documentation and design of selected component, which machining can be programmed by using the Sinumerik Operate 2.6 – ShopTurn system and practical verification of NC program by using graphical simulation.

An autonomous vehicle is a vehicle that is capable of navigating and driving with no human intervention whatsoever through the utilization of various sensors and positioning systems. The possible applications of autonomous vehicles are widespread, ranging from the aerospace industry to the mining and military sectors where the exposure of human operators to the operating conditions is hazardous to their health and safety. Automobile accidents have become the leading cause of death in certain segments of the world population. Removing the human driver from the decision-making process through automation may result in significantly safer highways. Although full autonomy may be the ultimate goal, there is huge scope for systems that aid the driver in decision making or systems that take over from the driver under conditions where the human driver fails. The aim of the longitudinal control system to be implemented on the Land Rover test vehicle in this study is to improve the vehicle’s safety by controlling the vehicle’s longitudinal behaviour. A common problem with sports-utility-vehicles is the low rollover threshold, due to a high centre of gravity. Rather than modifying the vehicle to increase the rollover threshold, the aim of the control system presented here is to prevent the vehicle from exceeding speeds that would cause the vehicle to reach its rollover threshold. In order to develop a control system that autonomously controls the longitudinal degree of freedom, a model of the test vehicle (a 1997 Land Rover Defender 110 Wagon) was developed in MSC.ADAMS/View and validated experimentally. The model accurately captures the response of the test vehicle to supply forces as generated by the engine and demand forces applied through drag, braking and engine braking. Furthermore, the model has been validated experimentally to provide reliable simulation results for lateral and vertical dynamics. The control system was developed by generating a reference speed that the vehicle must track. This reference speed was formulated by taking into account the vehicle’s limits due to lateral acceleration, combined lateral and longitudinal acceleration and the vehicle’s performance capabilities. The control system generates the desired throttle pedal position, hydraulic pressure in the brake lines, clutch position and gear selection as output. The MSC.ADAMS\View model of the test vehicle was used to evaluate the performance of the control system on various racetracks of which the GPS coordinates were available. The simulation results indicate that the control system performs as expected. Finally, the control system was implemented on the test vehicle and the performance was evaluated by conducting field tests in the form of a severe double lane change manoeuvre. The results of the field tests indicated that the control system limited the acceleration vector of the vehicle’s centre of gravity to prescribed limits, as predicted by the simulation results. / Dissertation (MEng)--University of Pretoria, 2013. / gm2014 / Mechanical and Aeronautical Engineering / unrestricted

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[pt] Este trabalho, apresenta o estudo de uma lei de comando, proposta para um regulador extremal, capaz de regular três tipos de sistemas, ou seja: N-L, L-n, e L-N-nl, onde L é uma sistema linear de primeira ordem, e N é um sistema Não Linear que apresenta características parabólica, os blocos estão ligados em cascata, e é suposto que apenas a entrada e saída do conjunto, sejam acessíveis. O estudo foi feito por simulação analógica. No computador IBM-1130, utilizando para tanto o programa CSMP (continuous system modeling program). São apresentados e discutidos, os resultados gráficos, ilustrando as trajetórias e o comportamento dos três sistemas estudados, Quando sujeitos à lei de comando imposta pelo regulador. Estes resultados, levaram a concluir que, utilizando a lei de comando proposta, é possível, partindo de quaisquer condições iniciais, conduzir e faze com que os sistemas estudados, fiquem trabalhando no extremo da característica não linear, e que as oscilações, tanto em regime transitório como em regime permanente, são de amplitude dessprezível. / [en] This work presents the study of a control law for na extreme control regulator with the capability of controlling three types of systems, namely N-L, L-N, L-N and L-N-L, where L is a first-order linear system and N is a non-linear system that possesses a parabolic characteristic. The system blocks are interconnected in series and it is assumed that only the input and output terminals of the complete system are accessible. The study was made by an analogue simulation on the IBM-1130 computer, utilizing the CSMP (continuous system modeling program). The results are presented and discussed graphically and the curves illustrate the performance of the three systems when subject to the control law imposed by the regulator, these results lead to the conclusion that using the proposed control law it is possible to achieve control for any set of initial conditions. The transient and steady state responses show a very small amplitude of oscillation.

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