This thesis deals with implementation of industrial used controlling block into Power Panel equipment of B&R in integrated development environment Automation Studio 3.0.71. It is PID controller with autotuner and visualization, which allowed bumpless transfer among controlling algorithms and manual control. PID and I-PD controllers with filtering of derivative action and dynamic antiwindup were implemented. Parameters of PID controller is possible to tune with the aid of ultimate gain and ultimate period according rules of Ziegler-Nichols. Ultimate parameters of controlled plant is possible to acquire with the aid of two identification methods, recursive least squares method and relay feedback. Recursive least squares method was implemented with directional forgetting. For relay feedback were used two types of relays: ideal and saturation relay for improving accuracy of searched ultimate values. The whole solution is programmed in ANSI C which Automation Studio supports. Created controller is control with the aid of touchscreen which is integrated in Power Panel. Trends of process values are viewed on the screen too. For comparison adaptive controller by B&R was implemented. This contoller is standardly supplied with Automation Studio in LoopConR library. All created algorithms were first validated on mathematical model of plant and then on real model in laboratory. The first part of thesis deals with theoretic analysis of used methods. The practical realization is described in the second part of this diploma thesis.

This master‘s thesis deals with the design of modern process control algorithms suitable for SISO industrial control equipments. In this thesis the analysis of the controller design methodology using Mixed-sensitivity function is described. This method consists in shaping frequency characteristics of the sensitivity function and complementary sensitivity fiction using the weighting functions. The proposed H controllers are compared with the classical structure of a discrete PID controller with filtered derivative part. The proposed controllers are compared in terms of robustness, performance, complexity of the design and requirements necessary for their practical application (anti-windup, smooth switchover). Robustness of the controller is evaluated on the basis of modulus stability margin. Estimation of model´s parameters is solved least-square method. The proposed control system consists of an industrial PC and Automation Panel from the company B&R, decentralized system I/O and the real plant. Visualization for control workplace was created in the program Automation studio. This visualization is used to the easy transfer of information from a controlled process.

This paper deals with simulation models of the human operator controlling lateral position of simulated vehicle. I am comparing parameters and quality of the McRuer human driver model and the PID controller. Simulated system is single-track vehicle model. Simulated driver is tasked to pass a Moose test with this vehicle model. I am using the simulated annealing method to find optimal parameters of the driver model and then I visualize realized test in 2D and 3D visualization. In the end of this paper I compare simulations of the driver models and assess achieved results.

Digitální Fly-by-Wire systém je novým přístupem k řídícímu systému letadla, na jehož základě firma Honeywell - HTS CZ začala výzkumný projekt s názvem “Next Generation Distributed Fly-by-Wire System” a tato práce je jeho součástí. Řídící plochy letadla jsou řízeny dvěma nebo třemi elektrohydraulickými (či elektrickými) servy a každé servo je ovládáno nezávislou řídící jednotkou. Díky provozním tolerancím systému a drobným odchylkám vstupních dat v řídících jednotkách, dostává každé servo mírně odlišné povely a rozdíl v poloze serv vede k namáhání řídící plochy i k namáhání serv. Hlavním cílem této práce je navrhnout algoritmus, který bude eliminovat rozdíly mezi polohami jednotlivých serv, a tudíž sníží sílu, která namáhá řídící plochu, na přípustnou mez. Implementace řídícího systému letadla byla do detailu analyzována a algoritmus redukce síly na kontrolní ploše letadla byl navržen a implementován v prostředí Simulink. Iterační kriteriální ladící metoda byla vyvinuta a za účelem co nejlepšího nastavení algoritmu redukce síly. Práce také analyzuje vliv časových zpoždení na sběrnici na kvalitu algoritmu redukce síly.

The first aim of this diploma thesis is to clarify problems with circuit elements described by the fractional-order dynamics, show their basic properties and possible applications in circuits with lumped parameters. The second topic is covering the synthesis of two-terminal devices which have different fractional-orders for requested phase shifts. For this kind of devices, the thesis also describes their optimization and approximation in the frequency domain and subsequent implementation in the form of passive ladder structures. The final part of diploma work will be focused on practical realization of universal fractional PID controller and the verification of proper function of this multi-port in various configurations to prove its correct function via real measurement of frequency and time responses.

<p>  </p> <p>As space agencies look to conduct more scientific missions beyond Earth orbit, low-cost access to space becomes indispensable. Small satellites (smallsats) fulfill this need as they can be developed at a fraction of the cost of traditional large satellites. Consequently, smallsats are being envisioned for planetary science missions at several destinations including Mars. However, a significant challenge for interplanetary smallsats is performing fully-propulsive orbit insertion because modern smallsat propulsion technologies have limited total velocity change capabilities. At destinations with significant atmospheres, this challenge can be circumvented via <em>aerocapture</em>, a technique that uses a single atmospheric pass to convert a hyperbolic approach trajectory into a captured elliptical orbit. Aerocapture has been shown to enable significant propellant mass savings as compared to fully-propulsive orbit insertion, making it an attractive choice for smallsats. Performing aerocapture with smallsats requires a suitable vehicle design that satisfies the associated control requirements and volumetric constraints. To address this requirement, this dissertation proposes the <em>morphable entry system </em>(MES), a conceptual deployable entry vehicle that utilizes shape morphing to follow a desired atmospheric flight profile during aerocapture. The aerocapture performance of the MES at Mars is investigated using a six degree-of-freedom aerocapture simulation environment. The shape morphing strategy employed by the MES is shown to be feasible for targeting desired angle of attack and sideslip angle profiles that lead to successful orbit captures. Furthermore, the robustness of the MES to simulated day-of-flight uncertainties while employing angle of attack control is demonstrated through a Monte Carlo dispersion analysis. The major contributions of this research as well as areas of future work are described.</p>

No description available.

Robotic and control industry implements different control technique to control the movement and the position of a robotic arm. PID controllers are the most used controllers in the robotics and control industry because of its simplicity and easy implementation. However, PIDs’ performance suffers under noisy environments. In this research, a controller based on Artificial Neural Networks (ANN) called the model reference controller is examined to replace traditional PID controllers to control the position of a robotic arm in a noisy environment. Simulations and implementations of both controllers were carried out in MATLAB. The training of the ANN was also done in MATLAB using the Supervised Learning (SL) model and Levenberg-Marquardt backpropagation algorithm. Results shows that the ANN implementation performs better than traditional PID controllers in noisy environments. / Robotoch kontrollindustrin implementerar olika kontrolltekniker för att styra rörelsen och placeringen av en robotarm. PID-styrenheter är de mest använda kontrollerna inom roboten och kontrollindustrin på grund av dess enkelhet och lätt implementering. PID:s prestanda lider emellertid i bullriga miljöer. I denna undersökning undersöks en styrenhet baserad på Artificiell Neuralt Nätverk (ANN) som kallas modellreferenskontrollen för att ersätta traditionella PID-kontroller för att styra en robotarm i bullriga miljöer. Simuleringar och implementeringar av båda kontrollerna utfördes i MATLAB. Utbildningen av ANN:et gjordes också i MATLAB med hjälp av Supervised Learning (SL) -modellen och LevenbergMarquardt backpropagationsalgoritmen. Resultat visar att ANN-implementeringen fungerar bättre än traditionella PID-kontroller i bullriga miljöer.

Control and balancing of an inverted pendulum has gained a lot of attention over the past few decades due to its unstable properties. This has become a great challenge for control engineers to verify and test the control theory. To control and balance an inverted pendulum, proportional integrated derivative (PID) method or linear quadratic regulator (LQR) method can be used through which a lot of simulations can be done using the represented theories.Since urban population is increasing at a very alarming rate, there is a need to discover new ways of transportation to meet the future challenges and demands. Scania has come up with a new conceptual bus called NXT which aims to develop a modular vehicle that should configure and re-configure themselves between different transportation tasks. NXT vehicle has front and rear drive modules which can be represented as single axle, two-wheeled vehicles which in-turn can be viewed as an inverted pendulum with a huge Center of Gravity. Controlling and balancing of the pod or drive module precisely and accurately is an interesting challenge since it is an unstable inverted pendulum with huge center of gravity (COG). This behaviour of the system has created a research question whether the module is controllable or not.Therefore this thesis focuses on the possibility of controlling the pod which is a two-wheeled inverted pendulum vehicle with a COG offset. Also, the thesis focuses on the construction, mod-elling, testing and validation of a down-scaled model, what sensors are needed to balance the pod precisely, how the sensors must be integrated with the system and how the pod can be controlled remotely from a certain distance by a human. The developed pod houses the technologies like sensors, BLDC motor controllers, hoverboard, Arduino board and Bluetooth transmitters.The Master Thesis starts by presenting an introduction to the inverted pendulum theories, Scania NXT project, information about the research methods, thesis outline and structure . It continues by describing related literature about the inverted pendulums, segways, hoverboards, motor controllers and Arduino boards. Afterwards, the process of deriving a mathematical model, together with simulation in Matlab, Simulink and Simscape is described. Later, construction of the pod is made and lot of effort is put to run the pod. Since the pod needs to be controlled remotely by a human, a remote controlled systemis implemented via mobile phone using an app and finally the thesis is finished with a conclusion and ideas for future work. / Reglering och balancering av en inverterad pendel har väckt stor uppmärksamhet över de senaste decennierna på grund av dess instabila egenskaper. Det har skapat stora utmaningar för regleringenjörer eftersom området tillåter test och verifikation av diverese lösningar. För reglering och balansering av en inverterad pendel, så kan en regulator med proportionell, integral och derivat (PID) konstanter eller en linjär kvadratisk regulator (LQR) användas tillsammans med simuleringar för att bekräfta teorin.I och med att stadsbefolkningen ökar i mycket hög takt, så uppstår behovet av att uppfinna nya transportmedel för att lösa framtida utmaningar och krav. Scania har tagit fram en ny konceptbuss som heter NXT, med målet att utveckla ett modulfordon som kommer att konfigurera och rekonfigurera sig själva mellan olika transportuppgifter. NXT-fordonet har fram- och bakdriv-moduler som kan representeras som enaxlade tvåhjuliga fordon, vilka i sin tur kan betraktas som en inverterad pendel med en stor massa. Att reglera och balansera drivmodulen på ett noggrant sätt är en utmaning eftersom det är ett mycket instabilt system med enorm massa och en okänd tyngdpunkt. Systemets beteende har skapat en forskningsfråga om modulen är reglerbar eller inte.Denna uppsats fokuserar därmed på möjligheterna att kunna reglera drivmodulen samt vilka begränsningar det finns. Uppsatsen fokuserar också på konstruktion, modellering, testning och validering av en nedskalad modell, vilka sensorer som krävs för att balansera drivmodulem, samt hur sensorerna måste integreras med systemet för att kunna fjärstyra fordonet från ett visst avstånd. Utveckingen av en sådan nedskalad modell berör olika områden såsom sensorer, BLDC-motorstyrenheter, hoverboard balanserings scootrar, Arduino kretskort och Bluetooth-sändare/mottagare.Uppsasten börjar med en introduction om olika inverterade pendel teorier, Scania NXT project, forskningsmetoder, en översikt och övergripande struktur. Vidare fortsätter beskrivining av relaterade litteratur om inverterade pendel, Segway, hoverboard, borstlösa motor styrenheter och Arduino kretskort. Senare fortsätter processen för att härleda matematiska modeller som beskirver systemet, tillsammans med simuleringar i Matlab, Simulink och Simscape. Därefter beskrivs konstruktionen av en nedskalad modell av drivmodulen och beskrivning av nödvändiga processer för att få hårdvara och mjkukvara att fungera ihop. Då fordonen ska ha möjlighet att fjärrstyras, så implementerades en bluetooth enhet tillsammans med en programmerbar mobil applikation. Slutligen avlutas uppsatsen med resultat, slutsats och diskussioner och förslag till framtida arbeten.

Разработана математическая модель управления с помощью пакета Simulink Matlab, проведена идентификация и оптимизация многоконтурной модели стабилизации температуры газа, разработаны два типа регуляторов: процорциально-интегрально-дифференциальный и нечеткий лингвистический по алгоритму Мамдани. / A mathematical control model has been developed using the Simulink Matlab package, identification and optimization of a multi-contour model of gas temperature stabilization has been carried out, two types of regulators have been developed: a percortial-integral-differential and fuzzy linguistic according to the Mamdani algorithm.