El proyecto expuesto en este documento presenta la definición, diseño e implementación de un vehículo aéreo no tripulado autónomo de múltiples rotores y su estación de control en tierra. El proyecto abarca tanto el diseño e implementación del hardware del robot (la elección de los diferentes componentes electrónicos, actuadores y la construcción de la estructura del vehículo) como el diseño e implementación del firmware encargado tanto de procesar la información obtenida de los sensores y la estación de control en tierra, como del control de los diversos actuadores encargados del movimiento del robot; de la misma manera se abarca el diseño e implementación de la estación de control en tierra del robot. Entre las principales características del vehículo aéreo no tripulado desarrollado en este proyecto, se encuentra, la capacidad de poder mantener su posición en el aire con cierta resistencia a agentes externos como el viento, la posibilidad de realizar una misión totalmente autónoma incluyendo el despegue y el aterrizaje; además el robot cuenta con diversos sistemas de seguridad que permiten prever accidentes y problemas tales como la falta de carga en las baterías o la perdida de alguna señal de control, finalmente al tratarse de un robot destinado a misiones de reconocimiento, se implementó un sistema de transmisión de video en vivo desde el vehículo aéreo no tripulado a la estación de control en tierra.

This research project develops a low-cost high-cycle fatigue (HCF) testing system comprised of an AC motor, variable frequency drive (VFD), eccentric cam, and feedback controller. The system acts as a forced harmonic oscillator leveraging mechanical resonance to vibrate a specimen at a frequency required to induce the testing's strain amplitudes. This system depends highly on the material being tested. As such, the controller incorporates material characteristics. A frequency sweep measures the strain amplitude to characterize the specimen. Additionally, other measurements such as acceleration can be used as a proxy control variables for strain. A function converts the control variable to frequency. This function tunes a proportional integral derivative (PID) controller to emphasize stable control. This function, coupled with a tuned PID controller, converts the correction update into a voltage signal that commands a motor speed to reach the desired strain amplitude. Testing showed that a longer feedback loop time of 5 seconds was necessary to adequately control the system since the control variables are oscillatory by nature and need to be averaged over time to estimate accurate updates. Also, specimens with low damping are more subject to transient effects; consequently, rapid updates degrade system performance. Overall, the system tested over 250,000 cycles and various specimens. The main limitation of the system is a maximum strain amplitude limited by the specific specimen resonant peak. However, adjusting the system's fixed displacement enables transferring more force to the specimen, changing the shape of the resonant peak.

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.

Αντικείμενο της εργασίας είναι ο έλεγχος του προσανατολισμού ελικοπτέρου Quadrotor με χρήση ελεγκτή PID. Το ελικόπτερο Quadrotor είναι ένα μη γραμμικό, ασταθές, υποενεργοποιούμενο σύστημα. Για αυτούς τους λόγους, ο έλεγχός του παρουσιάζει σοβαρά προβλήματα. Ο ελεγκτής PID αρχικά εφαρμόζεται στο γραμμικοποιημένο μοντέλο του συστήματος, και εν συνεχεία διακριτοποιείται και εξετάζεται στο πλήρες μη γραμμικό μοντέλο του Quadrotor. Ιδιαίτερο βάρος δίνεται στη ρύθμιση του ελεγκτή PID. Αφού παρουσιαστούν οι κυριότερες μέθοδοι ρύθμισης ενός τέτοιου ελεγκτή, επιλέγεται η μέθοδος Extremum Seeking, μία επαναληπτική μέθοδος που βελτιστοποιεί τον PID ώστε να ελαχιστοποιείται τοπικά μια συνάρτηση κόστους. Σημαντικό πλεονέκτημα αυτής της μεθόδου αποτελεί το γεγονός ότι μπορεί να εφαρμοστεί κατ' ευθείαν στο μη γραμμικό μοντέλο του συστήματος βελτιστοποιώντας περαιτέρω τον ελεγκτή. Στη συνέχεια ο ελεγκτής PID εξετάζεται σε ένα πραγματικό ελικόπτερο που κατασκευάστηκε στο εργαστήριο. Στο πειραματικό αυτό σύστημα, η υλοποίηση του PID γίνεται σε έναν ηλεκτρονικό υπολογιστή, με τη βοήθεια του προγράμματος Labview ενώ η επικοινωνία ανάμεσα στον υπολογιστή και στο ελικόπτερο επιτυγχάνεται με τη βοήθεια σειριακής θύρας RS232. Μετά τη διεξαγωγή των πειραμάτων και την αξιολόγηση της απόδοσης του ελεγκτή PID, αναφέρονται τα γενικότερα συμπεράσματα της εργασίας, καθώς και προτάσεις για περαιτέρω έρευνα. / This thesis focuses on attitude control of a quadrotor helicopter with PID technique. Quadrotor is a non linear, unstable, underactuated system, so the controller design is a very challenging task. Initially the PID controller is applied to the linearized model of the helicopter, and then to the discretized one, because the controller is later implemented on a personal computer. Then we describe some PID tuning techniques that are often used in practice. In this thesis we use Extemum Seeking which is an iterative, optimization method for the PID tuning that can be used in either linear or non linear models. So Extremum Seeking can be applied to the full non linear model of the quadrotor to further improve the PID parameters. Finally the PID controller is applied to a real Quadrotor helicopter. The controller is implemented on Labview while the communication between the PC and the helicopter is achieved with two RS232 links.

The presented diploma thesis deals with the design and construction of a simple humanoid robot with two arms attached to a torso. The work was solved as a team project of two authors. Therefore, only the construction of the arm, which is inspired by the kinematics of the human arm is described in more detail. Its construction was the task of the author. An important part of the work is the selection of drives and sensors for the operation of the mechanism. Furthermore, the work presents the procedure of creating a kinematic model of the arms to solve the forward and inverse kinematics problem. For the possibility of motion control, the control of the control unit in Simulink was designed and the drive control was created.

This thesis deals with the determination of the position of the solenoid core in real time based on the measured current. The reference position of the current is used for feedback control of the solenoid. For this issue, software tool Matlab/Simulink was used. For current and temperature measurements, PCB circuits were created. The whole project was carried out on the dSPACE platform.

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.

Active safety systems for road vehicles have been improved considerably in recent years along with technological advances and the increasing demand for road safety. In the development route of active safety systems which started with introduction of digital controlled ABS in the late seventies, vehicle stability control systems have been developed which today, with an integration approach, incorporate ABS and other previously developed active safety technologies. ABS, as a main part of this new structure, still maintains its importance. In this thesis, a design methodology of an antilock braking system controller for four wheeled road vehicles is presented with a detailed simulation work. In the study, it is intended to follow a flexible approach for integration with unified control structure of an integrated active safety system. The objective of the ABS controller, as in the previous designs in literature, is basically to provide retention of vehicle directional control capability and if possible shorter braking distances by controlling the wheel slip during braking. iv A hierarchical structure was adopted for the ABS controller design. A high-level controller, through vehicle longitudinal acceleration based estimation, determines reference slip values and a low-level controller attempts to track these reference slip signals by modulating braking torques. Two control alternatives were offered for the design of the low-level controller: Fuzzy Logic Control and PID Control. Performance of the ABS controller was analyzed through extensive simulations conducted in MATLAB/Simulink for different road conditions and steering maneuvers. For simulations, an 8 DOF vehicle model was constructed with nonlinear tires.

CoordenaÃÃo de AperfeÃoamento de Pessoal de NÃvel Superior / O Motor de RelutÃncia VariÃvel (MRV) vem cada vez mais chamando a atenÃÃo da indÃstria e da comunidade acadÃmica. Isso se deve ao crescente desenvolvimento da eletrÃnica de potÃncia e na Ãrea de microprocessadores nos Ãltimos anos, o que permitiu o avanÃo de outros sistemas de acionamentos tais como com MRV. A competitividade do MRV se justifica por seu baixo custo de produÃÃo e manutenÃÃo, uma elevada densidade de potÃncia, robustez e resistÃncia a faltas. O presente trabalho propÃe um esquema de controle robusto baseado em um Controlador Preditivo Generalizado (GPC) pertencente a famÃlia de Controladores Preditivos Baseados em Modelo (MPC) aplicados a malha de corrente e velocidade de um sistema de acionamento com MRV. O controlador proposto, assim como controladores tradicionais aplicados neste tipo de sistema tais como o controlador por Histerese e o controlador PID sÃo tambÃm aplicados com o objetivo de proporcionar meios de comparaÃÃo dos resultados experimentais obtidos. A estrutura do controlador à baseada no projeto de um filtro de modo a permitir uma resposta rÃpida, rejeiÃÃo a distÃrbios, atenuaÃÃo de ruÃdos e robustez com um baixo custo computacional. O controlador proposto foi implementado e os resultados comparados com controladores tradicionais e analisados quantitativamente por meio de Ãndices de desempenho. Para execuÃÃo das rotinas de controle foi utilizado um DSP das Texas Instruments (TMS320F28335), sendo suas caracterÃsticas principais apontadas. O algoritmo do software de controle à esquematizado. O trabalho fez uso da bancada de pesquisa em MRV do laboratÃrio do Grupo de Pesquisa em AutomaÃÃo e RobÃtica (GPAR) da Universidade Federal do Cearà (UFC).

Made available in DSpace on 2016-08-17T14:52:39Z (GMT). No. of bitstreams: 1 DISSERTACAO_DENIS FABRICIO SOUSA DE SA.pdf: 2409581 bytes, checksum: 4de5274676a1f75ffe2a1f6b46b1388c (MD5) Previous issue date: 2015-04-10 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / The representation of dynamic systems or plants via mathematical models occupies an important position in control system design that allow the performance evaluation of the controller during his development stage. These models are also used as an alternative to solve the problem of the hardness or impracticability to install sensors that measure the controlled variables, the dynamic systems representations enable non-invasive measurement of these variables. As consequence the designer has an alternative way to perform adaptive and optimal sensorless control for a given process. In this dissertation is presented a proposal for control systems schemas and algorithms, based on recurrent neural networks (ANN) and Box-Jenkins models, that are dedicated to sensorless or indirect control of dynamic systems. The proposed models and algorithms are associated with the systems identification and recurrent ANN approaches. The algorithms developed for the AAN training are Backpropagation Accelerated and RLS types that are compared with classical methods and strategies to obtain it online parameters of indirect control of system for a thermal plant, where the actuator is Peltier cell. The performance the parametric models of the plant and adaptive PID digital controllers and linear quadratic regulator (DLQR) that are the main elements of the sensorless temperature control system, are evaluated by means of hybrid simulations, where the algorithms implemented in micro controllers and the plant represented by mathematical models. The performance results of the proposed sensorless control algorithms are promissory, not only, in terms of the control system performance, but also due to the reexibility to deploy it in other dynamic systems. / A representação de sistemas dinâmicos ou plantas por meio modelos matemáticos ocupa uma posição relevante no projeto de sistemas de controle, permitindo que o projetista avalie o desempenho dos controladores durante a fase de desenvolvimento do projeto. Estes modelos também são utilizados para resolver o problema da dificuldade ou impossibilidade da inserção de sensores em plantas para medição de variáveis controladas, onde os modelos viabilizam a mediação não invasiva destas variáveis, fornecendo uma alternativa para realização do controle indireto adaptativo e ótimo de um dado processo. Nesta dissertação apresenta-se o desenvolvimento de modelos propostos baseados em redes neurais artificiais recorrentes para o controle sensorless ou indireto da planta. Os modelos propostos estão associados com as abordagens de Identificação de Sistemas e de RNA's recorrentes. OS algoritmos desenvolvidos para o treinamento das RNAs são do tipo Backpropagation acelerado e RLS, que são comparados com estratégias e métodos clássicos, para obtenção online dos parâmetros do sistema de controle indireto de uma planta térmica, tendo como atuador uma célula Peltier. Para uns de avaliação de desempenho do sistema de controle indireto da planta, os modelos paramétricos e controladores digitais adaptativos do tipo PID e regulador linear quadrático (DLQR) são avaliados por meio de simulações híbridas, sendo os algoritmos dos controladores implementados em microcontroladores e a planta representada por modelos matemáticos. Os resultados apresentados são promissores, não são sentido do desempenho do sistema de controle, mas também nos custos reduzidos para seu desenvolvimento, operação e flexibilidade de aplicação em outros sistemas dinâmicos.