This diploma thesis focuses on an analysis, a model creation and simulations of a car boot door mechanism. The problem was analyzed on the basis of real measurements made on three different vehicles. Based on the measurements, computational models describing the real system at different levels of complexity were created. Matlab/Simulink was used to create and calculate the models. The output of the thesis is the simulator of a car boot door which also includes simplified model of a control unit. The simulator should provide an approximation of current and kinematic quantities of these mechanisms. The model is implemented on dSPACE platform that allows real-time simulations. The simulator can be modified in terms of changing the parameters of the mechanism and modifying some of its results.

This thesis is focused on problematics of control of brushless DC motor in the sensor and also in the sensorless mode. Also it interprets possibilities of BLDC motor control with one faulty sensor and derivation and simulation of mathematical model. First part mentions options of rotor position sensing as well as existing methods of sensorless BLDC motor control. Second part describes control algorithms of sensor and sensorless motor control realised on device dSPACE and also realisation of faulty sensor control algorithm. Third part deals with derivation of mathematical model, its realisation using Matlab Simulink software and identification of its parameters. Last part concludes results and compares control methods used on the real system.

This thesis deals with analysis and implementation of Power-HIL system that is designed to simulate real DC motor with comutator and permanent magnets. For problem analysis were used simulations of real components in Matlab / Simulink. The electronic parts of system were simulated with using the SimElectronic library. Idividual hardware components were designed according to simulation results. The outcome of this thesis is a power electronic simulator of real DC motor, which is implemented on dSPACE platform. The system allows software to setup parameters and behavior of simulated motor. The final system can be used for testing DC motor ECU (electronic control units).

Diplomová práce popisuje vývojovou techniku Model Based Design a její použití pro návrh a testování algoritmů. Popis této techniky je proveden na příkladu praktického využití v praxi při vývoji modulu monitorování stavu motoru ve spolupráci se společností UNIS,a.s. Vývoj v oblasti současné letecké techniky klade velký důraz na monitorování životnosti zařízení. Podle výstupů algoritmu se dají naplánovat preventivní opravy s ohledem na aktuální podmínky opotřebení a provozování. Implementace algoritmů je provedena v prostředí Matlab/Simulink s následným testováním na platformě dSpace

This thesis is focused on the design of vector control of interior permanent magnet synchronous motors. The first part of this work deals with vector control transformations and mathematical modelling of synchronous motors. Furthermore, algorithms of sensorless control are discussed, especially HF injection sensorless methods. One of these methods was used for torque and speed control. Problem of phase delay caused by filters and it’s compensation is also discused. One of the HF injection sensorless method was implemented on both motors. The results of simulations in MATLAB/Simulink and tests of real motors on dSpace are included.

Previous studies have shown that many drivers are unable to provide the right amount of steering torque when facing an imminent collision with an upcoming obstacle. In some cases, drivers under-react i.e., they provide too low steering inputs and thus collide with the obstacle in front; in other cases, drivers might apply a higher steering input than necessary, potentially resulting in the vehicle leaving the road or losing stability. The EMA function is an active safety feature which has the sole objective of providing steering torque interference when performing such a manoeuvre. The motivation for the thesis work is to overcome some limitations of the existing MA function which does not incorporate the ability to differentiate driver reactions. In this thesis, an Evasive Manoeuvre Assist (EMA) function is designed to adapt to both types of the drivers, by an optimised steering torque overlay. The existing current EMA function is always amplifying the driver steering inputs using a feed-forward controller. The focus of this thesis work is to identify and dene a proper steering sequence reference model for closed-loop feedback control design. A simple single-point preview model is designed first to calculate the reference steering angle. A few test scenarios are set-up using the IPG CarMakerTMsimulation tool. The reference model is then tuned with respect to the amplitude and frequency by batch simulations to obtain the optimal steering prole. A feedback controller is then designed using this reference model. The controller is implemented in a real-time environment, using a Volvo rapid-prototype test vehicle. Preliminary variation tests have shown that the developed controller can enhance both an over-reacting and under-reacting driver's performance during an evasive manoeuvre, by applying assistance/resistance EPAS torque timely. The designed EMA function is shown to accommodate different driver reactions and provide intuitive torque interference. As opposed to the earlier notion that the EMA function only assists the driver with an additional steering wheel torque, it was shown that the optimal steering torque overlay might be in the form of assistance or resistance.

The space-based solar power system is an alternative to the ground-based solar power system because of its round-the-clock availability. For the space-based solar power transmission, the accurate pointing of a laser from space to ground poses a challenging control task. A gimbaled laser target system, which is used for pointing laser to a target, is a test bench for such a transmission system. The objective of this research is to determine the optimal controller for the gimbaled laser target system in terms of pointing error and error variation. In order to achieve the objective, we modeled the gimbaled laser target system, simulated the model with the controllers, and tested them on the test bench. In this thesis, we developed a mathematical model of a two-axis gimbaled laser target system. The model consists of a pitch-yaw gimbal for the dynamic laser motion, brushless dc motors for actuating the gimbal, and an image-based position sensor. We used a Proportional-Integral-Derivative (PID) controller as the basis for the performance comparison since it is the most commonly used control method in the industry. Then we compared the PID controller with two statistical control methods - Linear Quadratic Gaussian (LQG), and Minimal Cost Variance (MCV) optimal controllers. We evaluated the pointing performance of the controllers by measuring the mean and the standard deviation of the pointing error. The simulation results indicated that the statistical controllers perform better than the PID controller under Gaussian disturbances. Between the statistical controllers, the LQG method had the smaller pointing error, while the MCV method had the smaller standard deviation of the pointing error. We then implemented the PID, LQG, and MCV controllers in an off-the-shelf dSPACE digital signal processing controller board, and tested the controllers on the test bench in a real time environment. The experimental results showed that the LQG method decreased the mean pointing error by 46.28% compared to the PID method. The LQG method reduced the standard deviation of pointing error by 47.85% compared to the PID method. The MCV method reduced the standard deviation of the pointing error by 53.09% compared to the LQG method. Both the simulation and experimental results showed that the MCV controller improved the pointing error variation performance over the LQG controller significantly, while slightly degrading the pointing error performance of the gimbaled laser target system. Experimental results indicate that the statistical controllers will provide a design parameter either to improve the mean pointing error or the standard deviation of the pointing error for the gimbaled laser target system. Subsequently, we believe that the statistical controllers will improve the space-based solar power transmission efficiency. / Electrical and Computer Engineering

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