Trata do desenvolvimento de um controlador Proporcional-Integral-Derivativo (PID) para uma Mesa Angular Rotativa (MAR) destinada à usinagem de ultraprecisão. O sistema de controle tem como objetivo efetuar posicionamento angular de alta resolução e repetibilidade antes e durante a usinagem de ultraprecisão, propiciando fabricar peças complexas através de torneamento. A MAR faz uso de elementos como mancais de flexão, atuadores piezelétricos, juntamente com o sistema de controle PID. A estratégia de controle é baseada na aquisição de dados na plataforma de desenvolvimento LabVIEW®, para gerar curvas tensão de saída do tesatronic versus deslocamento da MAR e no processamento dos sinais adquiridos ao longo do microposicionamento da MAR em tempo real para realimentação de posição. Constatou-se que o sistema suporta deslocamentos da MAR correspondendo a expansão do atuador piezelétrico de até 24 µm com freqüência de acionamento de até 3 Hz. O uso de filtro Chebyshev provocou atraso na resposta e forte instabilidade no sistema. Conclui-se que para a melhora do desempenho do sistema em termos de freqüência pode ser conseguida através do uso de filtro do tipo FIR (Finite Impulse Response). / A Micro Tilt Stage (MTS) was developed in the Precision Engineering Laboratory (University of São Paulo) to be used in commercial diamond turning machines. The MTS has the aim of positioning workpieces angularly with high resolution and repeatability before and during ultraprecision machining. The use of flexural bearings and piezoelectric actuators together with a PID control system provided improved dynamic performance. The control strategy is based on data acquisition using LabView to create standard curves and perform the correction of positioning errors. Experimental tests are performed with displacement of the (MTS), up to 24 µm, with frequency, up to 3 Hz. The use of a Chebyshev filter caused a delay and a strong instability in the system. In conclusion, in order to improve the performance of the system in terms of frequency, the use of a FIR filter (Finite Impulse Response) may be indicated.

Submitted by Renata Lopes (renatasil82@gmail.com) on 2017-04-20T17:37:36Z No. of bitstreams: 1 anasophiacavalcantialves.pdf: 26969611 bytes, checksum: 43d8f3d71a0dbcb949394e62ac48bbf4 (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2017-04-24T16:49:48Z (GMT) No. of bitstreams: 1 anasophiacavalcantialves.pdf: 26969611 bytes, checksum: 43d8f3d71a0dbcb949394e62ac48bbf4 (MD5) / Made available in DSpace on 2017-04-24T16:49:48Z (GMT). No. of bitstreams: 1 anasophiacavalcantialves.pdf: 26969611 bytes, checksum: 43d8f3d71a0dbcb949394e62ac48bbf4 (MD5) Previous issue date: 2012-11-27 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / O presente trabalho tem como objetivo aplicar e comparar técnicas de controle lineares e não lineares no controle de estabilidade de um quadricóptero. Inicialmente, apresenta-se um modelo dinâmico da aeronave para a simulação e controle do sistema. Em seguida, descreve-se os princípios de funcionamento do veículo e algumas características importantes na construção do quadricóptero. Com base no modelo dinâmico, as técnicas de controle são utilizadas para projetar os controladores. Quatro diferentes controladores foram projetados: um controlador PID, um controlador LQR, um controlador com base na teoria de Lyapunov e um controlador utilizando a técnica de Backstepping. Eles são aplicados para controlar a atitude da aeronave, tendo como principal tarefa a estabilização do quadricóptero em voo. Por fim, os controladores são comparados, validados e os resultados das simulações e da implementação real no quadricóptero são apresentados. Os melhores resultados para o controle de estabilidade do quadricóptero são obtidos utilizando a técnica de controle não linear Backstepping. / This present work aims to apply and compare linear and nonlinear control techniques in attitude stabilization of a quadricopter. At first, is presented a aircraft dynamic model for simulation and control of the system. Then, will be described the principles of operation and some important characteristics about quadricopter’s assembling. Based on dynamic model, the control techniques are used to design the controllers. Four different controllers were designed: a PID controller, a LQR controller, a Lyapunov’s stability theory based controller, and a backstepping controller. They are applied to control the aircraft attitude, having as main task the inflight stabilization of quadricopter. At the end, the controllers are compared, validated and the simulation results and real implementation are presented. The best results of quadricopter attitude control are obtained using the nonlinear control technique of Backstepping.

Diploma thesis deals with crystalline solar modules i relation to PID phenomenon. The thesis focuses on methods of investigation of changing electrical parameters, in the course of PID degradation, such as prallel resistance and leakage current. The effect of degradation will be examined by V-A characteristics and by electroluminiscence method.

The master thesis deals with the implementation of higher controllers to the commonly used practice in the automation of technological processes. It uses the DCS system from Siemens - PCS 7 and its advanced APC (Advanced Process Control) library. The aim of this master thesis is a theoretical summary of resources and available tools for real-time deployment. The master thesis briefly introduces the Siemens PCS 7 DCS system and the APC library tools (functional blocks). For these types of regulators, their proper use is discussed.

This diploma thesis describes the piezoelectric phenomenon and its use for positioning with nanometric precision in laboratory use. In the thesis is description of direct and indirect piezoelectric phenomenon, various types of piezoelectric actuators and ways of their control with the aim of eliminating their hysteresis. The goal is to design a controller for piezo actuator built in the three-axis nanometric manipulator Thorlabs MAX341/M.

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.

This master’s thesis deals with design of the regulation of a circulating pump in a solar system for heating of supply water and design of the regulator for this system. It describes a fundamental principle and layout of a regulated circuit of a heating system. Description of regulation, basic terms, properties and differences between different types of regulation are described in first part of the master’s project. Especially continuous (PID regulator) and discrete (PSD regulator) regulation are presented. Second part of the master’s project is focused on a conceptual design of the circulating pump regulator. The connection system of each part, selection conditions of components and connection scheme of regulator are described. The third section deals with design of controlling algorithm of the regulator. There is a detailed description of libraries and functions in each chapter which were used in programming of PSD regulator algorithm. The regulated system of a solar collector is described at the end of the work. This system is being developed for real testing and setting of regulator.

This diploma thesis deals with the design and control of the mobile robot with caterpillar tracks on the basis of information obtained via infrared thermocouple. The work includes firmware implementation for robot chassis control and communication with the sensors used. The functionality of the proposed system is demonstrated on a robotic task when the robot is searching the source of excessive heat within his surroundings. The theoretical part deals with the basic description of the common robotic chassis, contactless temperature measurement, further analysis of the components used and their principles. The practical part is devoted to the firmware implementation and detailed description of selected problems. In the end of the thesis there is a summarization of the achievements and the success of the robot while detection of the suspicious objects with high surface temperature.

In this thesis, the design of a self balancing prototype bike with a reaction wheel as balancing mechanism will be investigated. Bikes are inherently unstable systems, that dynamically resemble an inverted pendulum at a stand still. Previous work has mostly been focused on keeping the balance through manipulating the steering input, and using state space modelling in order to balance the bike. In this project, a PID controller was implemented as a mean of control for the reaction wheel which was driven by a brushless DC motor. Different variations of Ziegler Nichols tuning methods were compared, and an alternative heuristic tuning method for the PID controller was also tested. The standard Ziegler Nichols and the alternative method yielded the best results. / I detta kandidatexamensarbete kommer designen av en självbalanserande prototyp cykel med ett reaktionshjul som balanseringsmekanism att undersökas. Cyklar är instabila system, som dynamiskt liknar en inverterad pendel när de är stationära. Tidigare arbeten har huvudsakligen fokuserat på att hålla balansen genom att elektroniskt manipulera styrinmatningen och använda modern regelteknik för att balansera cykeln. I det här projektet implementerades en PID-regulator som ett medel för att styra reaktionshjulet, driven av en borstlös likströmsmotor. Olika varianter av Ziegler Nichols-metoden och den alternativa metoden gav de bästa resultaten.

A line-follower is a robot that follows a line. Line-followers can be used in industry, mostly for material transportation, but are also raced against each other in competitions. While line-followers used in industry prioritize smooth motion and accuracy, competition-style line-followers prioritize speed around the track. In order for a line-follower to perform well, it needs a robust control-algorithm. Usually, competition-style line-followers use a manually tuned PID-algorithm for control. Tuning a PID-controller can be difficult, and is dependent on the skill of the tuner. There are, however, multiple so called ”heuristic” tuning methods that can give more consistent results, quickly. In this work, some popular heuristic tuning methods have been investigated for control of a competition-style line-follower. The methods have been compared in terms of step-responses and cumulative deviation of the robot from a track. The results indicate that the purely proportional variant of the Ziegler-Nichols method gives the best performance for competition-style line-followers. The ”some overshoot” variant of the modified Ziegler-Nichols method gave the most consistent and accurate results, and could be appropriate for use in an industrial-scale line-follower. Surprisingly the newest method tested, the Tyreus-Luyben technique, had a very unstable behaviour, and have thus been excluded from multiple tests. / En av de enklaste typer av själkörande fordon är en linjeföljande robot. Dessa kan användas i industrin, som materialtransportörer, men också i tävlingar där den snabbaste vinner. För att en linjeföljare ska prestera väl så krävs en robust kontrollalgoritm. De flesta tävlingsinriktade linjeföljare använder sig av en manuellt inställd PID-algoritm. Att manuellt ställa in en kontroller kan dock vara svårt, och kan ge inkonsekventa resultat. För att snabbt ställa in en kontrollalgoritm, med goda och konsekventa resultat, finns det ett flertal så kallade ”heuristiska” metoder. I det här arbetet har några heuristiska metoder använts för att kontrollera en liten linjeföljare. Metoderna har sedan utvärderats utifrån stegsvar och den totala avvikelsen från en bana under en körning. För en liten linjeföljare så gav den rent proportionella varianten av Ziegler-Nichols-metoden bäst prestanda. ”Som eovershoot” varianten av den modifierade Ziegler-Nichols metoden hade dock det jämnaste och mest konsekventa resultatet, och lämpar sig antagligen bäst för en industriell linjeföljare. Förvånande nog så gav den nyaste metoden, Tyreus-Luyben, absolut sämst resultat, och kunde i många fall inte ens testas utan att roboten spårade ur.