Die Parameteridentifikation ist ein substanzieller Schritt zur Regelung der Käfigläufer-Asynchronmaschinen, die am häufigsten gebauten Form von Motoren in der Industrie. Die genauen Werte der Motorparameter sind für alle Komponenten einer feldorientierten Regelung, wie z. B. für den Entkopplungsblock und den Läuferflussschätzer, notwendig. In diesem Beitrag wird gezeigt, wie die Parameter im Stillstand anhand des NRLS-Algorithmus (Nonlinear-Recursive-Least-Square-Algorithmus) berechnet werden können.

The interest for marine research and exploration has increased rapidly during the past decades and autonomous underwater vehicles (AUV) have been found useful in an increased amount of applications. The demand for versatile platform AUVs, able to perform a wide range of tasks, has become apparent. A vital part of an AUV is its motion control system, and an emerging problem for multipurpose AUVs is that the control performance is affected when the vehicle is configured with different payloads for each mission. Instead of having to manually re-tune the control system between missions, a method for automatic tuning of the control system has been developed in this master’s thesis. A model-based approach was implemented, where the current vehicle dynamics are identified by performing a sequence of excitation maneuvers, generating informative data. The data is used to estimate model parameters in predetermined model structures, and model-based control design is then used to determine an appropriate tuning of the control system. The performance and potential of the suggested approach were evaluated in simulation examples which show that improved control can be obtained by using the developed auto-tuning method. The results are considered to be sufficiently promising to justify implementation and further testing on a real AUV. The automatic tuning process is performed prior to a mission and is meant to compensate for dynamic changes introduced between separate missions. However, the AUV dynamics might also change during a mission which requires an adaptive control system. By using the developed automatic tuning process as foundation, the first steps towards an indirect adaptive control approach have been suggested. Also, the AUV which was studied in the thesis composed another interesting control problem by being overactuated in yaw control, this because yawing could be achieved by using rudders but also by differential drive of the propellers. As an additional and separate part of the thesis, an approach for using both techniques simultaneously have been proposed.

Master thesis is focused on the philosophy of design adaptive controller. In the theoretic part are described parts of the adaptive controller, which belongs parts as online identification by recursive least-squares method and PSD controller, which can set its parameters according to identified system (use Z-N method). The part of control system with transport delay is situated at the conclusion of the theoretic part, there are focused on Smith predictor. Practical part is focused on verification of all algorithms, which was performed on models and real systems.

Master thesis is focused on the philosophy of design adaptive controller. In the theoretic part are described parts of the adaptive controller, which belongs parts as online identification by recursive least-squares method and PSD controller, which can set its parameters according to identified system (use Z-N method). The part of control system with transport delay is situated at the conclusion of the theoretic part, there are focused on Smith predictor. Practical part is focused on verification of all algorithms, which was performed on models and real systems.

I Sverige är mobilapplikationen Mobilt BankID, med sina 7,8 miljoner användare år 2020 ett av de mest använda sätten att bekräfta sin identitet på internet eller för att ge autentisering med digital signatur. Applikationen är utvecklad av Finansiell ID-Teknik AB, ett företag som ägs av bankerna och accepteras som giltig identitetshandling av ett brett utbud av e-tjänster som tillhandahålls av myndigheter, sjukvård, banker och olika företag.Som svenska medier rapporterat har det förekommit en stor mängd bedrägerier relaterade till användningen av Mobilt BankID, främst riktad mot äldre. Syftet med denna studie är både att undersöka identifierade säkerhetsrisker gällande applikationen genom en litteraturstudie av tidigare vetenskaplig forskning, populärvetenskapliga artiklar och tidningsartiklar, samt genom att kombinera semistrukturerade intervjuer och en enkätundersökning riktad till användare i åldersintervallet 60-80 år, undersöka om respondenterna är medvetna om befintliga säkerhetsrisker eller har blivit utsatta för bedrägerier. Slutligen fastställer vi om respondenterna känner att de positiva aspekterna av att använda Mobilt BankID överväger de möjliga säkerhetsriskerna.Resultaten visar att det inte finns någon tidigare vetenskaplig forskning som identifierar säkerhetsrisker gällande den svenska versionen av Mobilt BankID. En liten majoritet av respondenterna är medvetna om att vissa risker finns men endast ett fåtal har utsatts för bedrägerier eller upplevt några säkerhetsrelaterade problem. De flesta respondenterna tycks ha en positiv inställning till applikationen och anser den vara trygg och lätt att använda. / In Sweden, the mobile application Mobilt BankID, with its 7,8 million users as of 2020 is among the most frequently used ways to confirm one's identity over the internet or to provide authorisation by digital signatures. The application is developed by Finansiell ID-Teknik AB, a company owned by the banks and is accepted as valid proof of identity by a wide range of e-services provided by the government, healthcare, banks and various companies.As reported by Swedish media there has been a high volume of frauds related to the use of Mobilt BankID primarily targeting the elderly. The purpose of this study is to investigate identified security risks related to the application through a literature study of previous scientific research, popular science articles and newspaper articles, as well as by combining semi-structured interviews and a survey aimed at users in the 60-80 age range, investigating whether respondents are aware existing security risks or have been exposed to fraud. Finally, we are determining whether the respondents feel that the positive aspects of using Mobilt BankID exceed possible security risks.The results we obtain show that there is no previous scientific research investigating security threats posed to the Swedish version of Mobilt BankID. A weak majority of our respondents are aware that certain security threats exist but almost none have been exposed to attacks or experienced any security-related problems. Most of the respondents seem to have a positive attitude towards the application finding it trustworthy and easy to use.