This paper deals with design of tool deflection compensation system for milling spindle C1, provided by company TOSHULIN, a.s. A simplified simulation model of the spindle supplemented by compensatory elements was built by using programs ANSYS, MD ADAMS, Matlab/Simulink. As action elements there were use three piezoactuators each controled by PID controler. Efficiency of this compensation system was verified based on performed simulations.

This thesis is devided into two parts. First part is a bibliographic search and speaks about maths modeling, simulations, a MATLAB Simulink programme, and a laundy process. Second part deals with a math model of an industrial laundry. In this part, there is a detailed descripton of the model and how the model was created.

This master‘s thesis describes the design and implementation of the system for detection and recognition of speed limit road signs. It focuses on the recognition of the red circular speed limit sign from the image data using the computer vision methods. Several methods were programmed and tested as a part of this thesis. In the final solution, the segmentation based on YCbCr color model is used. Detection of the circular sign and final classification is performed by template matching method. Algorithm for the tracking of the detected signs between frames of the video is used for better performance in real-time recognition. Application is developed using MATLAB and Simulink. The result is a simple driver assistance system prototype, which can be implemented in any computer with camera. The correct function of the algorithm was confirmed during a testing in a traffic.

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.

This thesis is focused on design of piezoelectric energy harvester with additional nonlinear stiffness. Linear generator has very narrow resonance frequency bandwidth. It makes the resonance mechanism very sensitive to tuning up of the resonance frequency and it can be tuned only for one narrow vibration peak. The main idea for using of the vibration energy harvester with nonlinear stiffness is to make resonance frequency bandwidth wider, so the generator will be useable for more excitation frequencies. In this thesis is used generator Midé V21BL and additional nonlinear stiffness is realized with permanent magnets.

This Master of Science thesis was written based on the shipbuilder Kockums AB feasibility study regarding the development of an All- Electric Ship for the Swedish Navy. The thesis was aiming at addressing voltage stability issues in a dc system fed by PWM rectifiers operating in parallel when supplying constant power loads. A basic computer model was developed for investigating the influence from various parameters on the system. It was shown that the voltage stability is dependent upon the ability to store energy in large capacitors. It was also shown that a voltage droop must be implemented maintaining load sharing within acceptable limits. Different cases of operation were modelled, faults were discussed, and the principal behaviour of the system during a short-circuit was investigated. It was shown that the short-circuit current is much more limited in this type of system in comparison to an ac system. It was concluded that more research and development regarding the components of the system must be performed.

Improving the climate system of cars is important since it is the largest auxiliary load in a standard vehicle with an increase of fuel consumption by up to 20%. In Electric Vehicles (EV) the range of the car is more limited than in a fossil fueled car; furthermore there is a limited waste heat available from the EV, approximately 2-3kW at 40oC for heating and defogging in winter. The goals of this report have been part of an existing European project (ICE) where the climate system of an electric minibus is being investigated. The specific objectives of this project were to develop a radiation model and integrate it in the existing thermal model of the cabin, validating the new model with existing experimental data, including the thermal model in the overall model of the complete vehicle and to use the existing AC-model to optimize the control with the aim of decreasing the energy consumption maintaining thermal comfort inside the cabin. The radiation model uses total radiation on a horizontal surface in order to calculate the radiation hitting the different parts of the car body and windows, finally the total radiative power entering the minibus is calculated. After including these calculations into the thermal model it could be seen that the results from the model in terms of cabin temperatures fit the experimental values surprisingly well. The control of the AC-system was optimized for a hot and sunny summer day in Italy which resulted in the AC-system working very hard following that the best control strategy was to reduce only the speed of the compressor in order to save energy. Calculations show that in the Normal European Driving Cycle (NEDC) the potential energy savings of following this control strategy can result in an energy saving of the AC-system by up to 27% compared to an unregulated case, with a maintained thermal comfort resulting in 4,2% increase in autonomy.

No description available.

One of the largest energy losses in an excavator is the compensation loss. In a hydraulic load sensing system where one pump supplies multiple actuators, these compensation losses are inevitable. To minimize the compensation losses the use of a multi chamber cylinder can be used, which can control the load pressure by activate its chambers in different combinations and in turn minimize the compensation losses.  For this proposed architecture, the control of the multi chamber cylinder systems is not trivial. The possible states of the system, due to the number of combinations, makes conventional control, like a rule based strategy, unfeasible. Therefore, is the reinforcement learning a promising approach to find an optimal control.  A hydraulic system was modeled and validated against a physical one, as a base for the reinforcement learning to learn in simulation environment. A satisfactory model was achieved, accurately modeled the static behavior of the system but lacks some dynamics.  A Deep Q-Network agent was used which successfully managed to select optimal combinations for given loads when implemented in the physical test rig, even though the simulation model was not perfect.

La complexité croissante des applications embarquées dans les voitures modernes augmente le besoin de puissance de calcul. Pour répondre à ce besoin, le standard automobile AUTOSAR introduit l'utilisation de plates-formes multi-cœurs. Cependant, l'utilisation du multi-cœurs pour des applications temps-réel critique automobile soulève plusieurs problématiques. Notamment, il faut respecter la spécification fonctionnelle et garantir de manière déterministe les échanges de données entre cœurs. Dans cette thèse, nous considérons des systèmes multi-périodiques spécifiés et validés fonctionnellement avec des modèles Matlab/Simulink. Ainsi, nous avons développé un framework pour déployer des applications Matlab/Simulink sur AUTOSAR multi-cœurs afin de garantir le déterminisme fonctionnel et temporel tout en exploitant au mieux le parallélisme. Notre contribution a porté sur trois axes. Premièrement nous avons identifié les mécanismes d'échanges de données imposés dans le modèle fonctionnel Matlab/Simulink. Nous avons montré que ces mécanismes pouvaient s'exprimer en utilisant le formalisme des Synchronous Dataflow Graph (SDFG). Ce modèle est un excellent outil d'analyse pour exploiter le parallélisme car il est très populaire dans la littérature et largement étudié pour le déploiement d'applications flow de données sur plateforme multi/many-cœurs. Par la suite, nous avons développé des méthodes pour réaliser le flux de données exprimés par le SDFG dans un ordonnancement temps-réel préemptif. Ces méthodes utilisent des résultats théoriques sur les SDFGs pour garantir les contraintes de précédence de manière déterministe sans utiliser des mécanismes de synchronisation bloquants. De cette sorte, nous garantissons à la fois le déterminisme fonctionnel et temporel des applications. Finalement, nous caractérisons l'impact des contraintes de flux de données sur l'ordonnancement des tâches. Nous proposons une technique de partitionnement qui minimise cet impact. Nous montrons alors que cette technique favorise la construction d'un partitionnement et d'un ordonnancement lorsqu'elle est utilisée pour initialiser des algorithmes de recherche et d'optimisation heuristiques. / The increasing complexity of embedded applications in modern cars has increased the need of computing power. To meet this need, the European automotive standard AUTOSAR has introduced the use of \multicore platforms. However, \multicore platform for critical automotive applications raises several issues. In particular, it is necessary to respect the functional specification and to guarantee deterministically the data exchanges between cores. In this thesis, we consider multi-periodic systems specified and validated with \mat. So, we developed a framework to deploy \mat applications on AUTOSAR \multicore. This framework guarantees the functional and temporal determinism and exploits the parallelism. Our contribution is threefold. First, we identify the communication mechanisms in \mat. Then, we prove that the dataflow in a multi-periodic \mat system is modeled by a SDFG. The SDFG formalism is an excellent analysis tool to exploit the parallelism. In fact, it is very popular in the literature and it is widely studied for the deployment of dataflow applications on multi/many-core. Then, we develop methods to realize the dataflow expressed by the SDFG in a preemptive \rt scheduling. These methods use theoretical results on SDFGs to guarantee deterministic precedence constraints without using blocking synchronization mechanisms. As such, both the functional and temporal determinism are guaranteed. Finally, we characterize the impact of dataflow requirements on tasks. We propose a partitioning technique that minimizes this impact. We show that this technique promotes the construction of a partitioning and a feasible scheduling when it is used to initiate multi-objective research and optimization algorithms. %As such, we reduce the number of design iterations and shorten the design time.