Für ereignisgesteuerte Systeme mit mehrdimensionalen Bewegungsabläufen wurde im Fachausschuss 4.12 "Bewegungssteuerungen für Be- und Verarbeitungsmaschinen" der VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik (GMA) die VDI/VDE-Richtlinie 3684 "Beschreibung ereignisgesteuerter Bewegungsabläufe mit Funktionsplänen" als interdisziplinär verständliches und anschauliches Dokumentationsmittel und Entwurfswerkzeug erarbeitet. Mit der Blockbibliothek Funktionsplan auf Grundlage der in der Richtlinie 3684 vorgeschlagenen Systembeschreibung ist ein durchgängiger Entwurfsweg bis zur Überprüfung des Systemverhaltens ereignisgesteuerter Systeme mittels Simulation einschließlich frühzeitiger Erkennung von Fehlern im Entwurfsprozess und Kodegenerierung möglich. Die FUP Blockbibliothek liegt als Erweiterungs-Blockbibliothek für SIMULINK vor und wurde hinsichtlich ihrer wesentlichen Eigenschaften zur Simulation von ereignisgesteuerten Prozessen speziell in mechatronischen Systemen entwickelt. Die Blockikonen gewährleisten schon nach kurzer Einarbeitungszeit einen sicheren Einsatz der Blöcke, damit kann auf Blockkürzel im Sinne der Richtlinie zwecks besserer Übersichtlichkeit verzichtet werden. Zweisprachige Blockhilfen sind in Version 3.1 für alle Blöcke on-line verfügbar. Graphisch programmierte Funktionspläne können mittels Toolbox Funktionsplanprüfung vorzugsweise über GUI, bei Bedarf auch durch MATLAB Skripte, auf Eingabe- und Programmierfehler geprüft werden. Die Prüfung kann wahlweise vollständig oder auf ausgewählte Fehler erfolgen. Ergebnisausgaben sind entweder in gestraffter Form oder ausführlich einschließlich von Hinweisen möglich. Überprüft werden können Parameter (z.B. Zustands- u. FUP-Nummern, Variablen, Fehlerbehandlung), Syntax (vgl. Richtlinie), Sackgassen (erste/alle) und Rückführschleifen (Entkopplung). Hybride Funktionspläne sind in Echtzeitkode für eine Zielhardware übersetzbar. Voraussetzung ist ein Standard ANSI C Compiler. Die Blockbibliothek Funktionsplan ist eine kostengünstige, richtliniennahe Alternative und ermöglicht eine vom Normalablauf separate, graphisch programmierte Fehlerbehandlung ohne Verlust an Übersichtlichkeit. Die Anwendung der Blöcke wird durch 11 Beispiele veranschaulicht.:1. Einleitung 2. Ausgangspunkt Arbeitsdiagramm 3. Hybrider Funktionsplan 3.1 Begriffsbestimmung 3.2 Anwendungsbeispiel 3.3 Vom Arbeitsdiagramm zum Hybriden Funktionsplan 4. Steuerungstechnische Umsetzung 4.1 Auswahl einer Basissoftware 4.2 Maschinenkodeerzeugung mit der Basissoftware 5. Projektierung mit FUP 5.1 Eigenschaften der SIMULINK Blockbibliothek FUP 5.2 Projektierungsschritte 6. Ausblick / The department committee 4.12 "Motion control of machine tools and processing machines" of the VDI/VDE Society for Measurement and Automatic Control (GMA) has established a manufacturer-neutral guideline No. 3684 for event-driven systems with multi-dimensional motion sequences. This guide-line is entitled "Description of event-driven motion processes by function charts" and constitutes a graphically clear design and documentation tool that is well-suited for interdisciplinary application. The block library Function Chart has been defined based on system descriptions suggested in guideline 3684. This library makes available a uniform design procedure. It covers the documentation, the behaviour test of event-driven systems by means of simulation including the early detection of design process faults, the test of realization variants as well as the code generation. Block library Function Chart is an add-on library for SIMULINK. With regard to its essential features it has been developed for the design, simulation, code generation and the description of event-driven systems especially for mechatronics, mechanical and electrical engineering. The created block icons make it possible to get familiar with add-on library Function Chart within a short period of time whereupon block mnemonics may be hidden in order to get a high graphical clearness and to fulfil the requirements of the guideline. Versions 3.1 bilingual on-line block help is available for all blocks. Graphically programmed function charts may be checked for input and programming errors preferably with help of Toolbox "Function Chart Check" by means of GUI's and if necessary also by MATLAB scripts. The check may be done completely or alternatively for selected errors. Output of result is possible either in detail inclusively eventual hints or in shortened form. A function chart may be checked for parameter errors (e.g. state and FUP numbers, variables, error handling), syntax errors (see guideline), dead ends (first or all) and uncoupled loops (arithmetic loops). Standard ANSI C compiler availability stands for a precondition for real time code generation. The block library Function Chart offers a reasonable alternative and allows separate motion error handling sequences which are separated from normal motion sequences without any loss of a well-ordered graphical arrangement. Currently 11 examples demonstrate the application of the blocks.:1. Einleitung 2. Ausgangspunkt Arbeitsdiagramm 3. Hybrider Funktionsplan 3.1 Begriffsbestimmung 3.2 Anwendungsbeispiel 3.3 Vom Arbeitsdiagramm zum Hybriden Funktionsplan 4. Steuerungstechnische Umsetzung 4.1 Auswahl einer Basissoftware 4.2 Maschinenkodeerzeugung mit der Basissoftware 5. Projektierung mit FUP 5.1 Eigenschaften der SIMULINK Blockbibliothek FUP 5.2 Projektierungsschritte 6. Ausblick

The development of a numeric simulation for predicting the performance of an Ocean Current Energy Conversion System is presented in this thesis along with a control system development using a PID controller for the achievement of specified rotational velocity set-points. In the beginning, this numeric model is implemented in MATLAB/Simulink® and it is used to predict the performance of a three phase squirrel single-cage type induction motor/generator in two different cases. The first case is a small 3 meter rotor diameter, 20 kW ocean current turbine with fixed pitch blades, and the second case a 20 meter, 720 kW ocean current turbine with variable pitch blades. Furthermore, the second case is also used for the development of a Voltage Source Variable Frequency Drive for the induction motor/generator. Comparison among the Variable Frequency Drive and a simplified model is applied. Finally, the simulation is also used to estimate the average electric power generation from the 720 kW Ocean Current Energy Conversion System which consists of an induction generator and an ocean current turbine connected with a shaft which modeled as a mechanical vibration system.

Cable-actuated manipulators (or 'cable robots') constitute a relatively new classification of robots which use motors, located at fixed remote locations, to manipulate an end-effector by extending or retracting cables. These manipulators possess a number of unique properties which make them proficient with tasks involving high payloads, large workspaces, and dangerous or contaminated environments. However, a number of challenges exist which have limited the mainstream emergence of cable robots. This thesis addresses two of the most important of these issues-- workspace analysis and disturbance compensation. Workspace issues are particularly important, as many large-scale applications require the end-effector to operate in regions of a particular shape, and to exert certain minimum forces throughout those regions. The 'Force-Feasible Workspace' represents the set of end-effector positions, for a given robot design, for which the robot can exert a set of required forces on its environment. This can be considered as the robot's 'usable' workspace, and an analysis of this workspace shape for point-mass cable robots is therefore presented to facilitate optimal cable robot design. Numerical simulation results are also presented to validate the analytical results, and to aid visualization of certain complex workspace shapes. Some cable robot applications may require mounting motors to moving bases (i.e. mobile robots) or other surfaces which are subject to disturbances (i.e. helicopters or crane arms). Such disturbances can propagate to the end-effector and cause undesired motion, so the rejection of motor mount disturbances is also of interest. This thesis presents a strategy for measuring these disturbances and compensating for them. General approaches and implementation issues are explored qualitatively with a simple one-degree-of-freedom prototype (including a strategy for mitigating accelerometer drift), and quantitative simulation results are presented as a proof of concept.

Στην παρούσα διπλωματική εργασία προσομοιώθηκε, μέσω του προγράμματος Matlab και συγκεκριμένα μέσω της εργαλειοθήκης Simulink, ένα υβριδικό μικροδίκτυο το οποίο αποτελούνταν από μια φωτοβολταϊκή διάταξη των 85W, ένα συσσωρευτή ιόντων-λιθίου (Liion battery), δυο DC-DC μετατροπείς και ένα R-L φορτίο. Στην συνέχεια πραγματοποιήθηκαν 4 διαφορετικές τεχνικές ελέγχου σε 2 σημεία, έναν στην πλευρά του φωτοβολταϊκού και έναν στην πλευρά της μπαταρίας. Ο έλεγχος στην πλευρά του φωτοβολταϊκού στόχευε το ρεύμα του φωτοβολταϊκού κάθε χρονική στιγμή να έχει την κατάλληλη τιμή προκειμένου να επιτυγχάνεται η μέγιστη ισχύς μέσω σημείου απόδοσης της μέγιστης ισχύος (MPPT). Ο έλεγχος στην πλευρά της μπαταρίας έχει ως σκοπό την διατήρηση της τάσης του φορτίου στα 100 V.(Vload_reference=100V). Οι έλεγχοι που πραγματοποιήθηκαν ήταν με χρήση PI ελεγκτών, έλεγχοι εκμεταλλευόμενοι την παθητικότητα του Euler-Lagrange συστήματος (PBC), με χρήση ασαφών (fuzzy) ελεγκτών και με χρήση νευρο-ασαφών (neuro-fuzzy) ελεγκτών. / In this diploma thesis a DC hybrid microgrid was simulated by using the program Matlab and specifically the toolbox Simulink. The microgrid consists of a photovoltaic array, a Li-ion battery storage, two DC-DC converters and an R-L load. Four different control methods were then applied to our system in 2 places, one on the photovoltaic array and one on the battery. The one on the photovoltaic array aimed that the PV current would be such that every time the maximum power from the PV would be achieved through a maximum power point tracker. The one on the battery has the purpose of maintaining the load voltage at 100 Volts. The control methods which were implied were PI controllers, passivity based control, fuzzy controllers and neuro-fuzzy controllers.

Η παρούσα διπλωματική εργασία πραγματεύεται την μελέτη και ανάλυση ενός υψηλής τάξης μοντέλου διπλά τροφοδοτούμενης επαγωγικής μηχανής, κατάλληλο για μελέτες μεταβατικής κατάστασης αιολικών συστημάτων. Αρχικά, γίνεται μία εισαγωγή στις ανανεώσιμες πηγές ενέργειας, με ιδιαίτερη αναφορά στην αιολική ενέργεια. Κατόπιν, περιγράφονται οι διάφοροι τρόποι ταξινόμησης των ανεμογεννητριών που υπάρχουν σήμερα, τα δομικά στοιχεία αυτών, καθώς και η αεροδυναμική τους μετατροπή. Ακολουθεί η γενική παρουσίαση μίας διπλά τροφοδοτούμενης επαγωγικής γεννήτριας. Προκειμένου να γίνει μελέτη των μεταβατικών καταστάσεων, παρουσιάζεται το δυναμικό μοντέλο και ο διανυσματικός έλεγχος μίας διπλά τροφοδοτούμενης επαγωγικής γεννήτριας υψηλής τάξης. Εν συνεχεία, αναλύεται -βάσει εξισώσεων- η συμπεριφορά της εν λόγω γεννήτριας σε τριφασικές και ασύμμετρες βυθίσεις τάσεων, που είναι αποτέλεσμα διαφόρων μεταβατικών καταστάσεων. Τέλος, γίνεται η προσομοίωση ενός αιολικού πάρκου, που περιλαμβάνει ανεμογεννήτριες αυτού του τύπου και μελετώνται διάφορες διαταραχές στο σύστημα, όπως: συμμετρικά και ασύμμετρα βραχυκυκλώματα, απότομες μεταβολές της ταχύτητας του ανέμου, απώλεια και μεταβολή φορτίου. Η προσομοίωση πραγματοποιείται με τη βοήθεια του λογισμικού MATLAB/Simulink, έκδοση 7.6. / The subject of this thesis is the study and analysis of a high-order model of a doubly-fed induction machine (DFIM), suitable for unbalanced condition studies on a wind farm. At first, an introduction is made of the renewable energy sources, with special mention of the wind energy. Then, there is the description of the different types of wind turbines than exist nowadays, their components and their aerodynamic conversion. A general presentation of a doubly-fed induction generator (DFIG) is made and after that, for the study of disturbances, the dynamic model and the vector control of a high-order model of a doubly-fed induction generator are presented. Through mathematical equations, the performance of this generator under voltage dips is then described, result of various transition phenomena. Finally, the simulation of a wind farm that includes wind turbines of this type, is made and several disturbances on the grid, such as: symmetrical and asymmetrical faults, sudden changes of the wind speed, loss and change of the load. Simulation is made with the use of the software MATLAB/Simulink, version 7.6.

This master thesis has been carried out in collaboration with Saab, Avionics Systems in Jönköping, Sweden, during the spring of 2017. The thesis investigates unidirectional rectifier topologies in aircraft and the focus has been on evaluating the power quality requirements according to the aircraft standards, in the course of the More Electric Aircraft concept. Both passive and active power factor correction topologies are considered, discussed and compared. Simulation models are designed in MATLAB/Simulink and the procedures are presented. A modular concept regarding components is discussed where different power supplies and loads are considered. The simulations present both a passive 12-pulse auto-transformer rectifier unit and an active Delta-switch rectifier fulfilling requirements for aircraft such as the total harmonic distortion of the supply current. In addition, the input power factor is close to unity and an efficiency greater than 97% is obtained. Lastly, future aspects of each topology are discussed and necessary improvements to obtain realistic simulation models are presented.

Control theory of complex systems by utilization of artificial intelligent algorithms is relatively new science field and it can be used in many areas of technical practise. Best known algorithms to solved similar tasks are genetic algorithm, differential evolution, HC12 Nelder-Mead method, fuzzy logic and grammatical evolution. Complex solution is presented at selected examples from mathematical nonlinear systems to examples of anthems design and stabilization of deterministic chaos. The goal of this thesis is present examples of implementation and utilization of artificial algorithms by multi-objective optimization. To achieve optimal results is used designed software solution by multi-platform application, which used Matlab and Java interfaces. The software solution integrate every algorithms of this thesis to complex solution and it extends possible application of those approaches to real systems and practical world.

Control theory of complex systems by utilization of artificial intelligent algorithms is relatively new science field and it can be used in many areas of technical practise. Best known algorithms to solved similar tasks are genetic algorithm, differential evolution, HC12 Nelder-Mead method, fuzzy logic and grammatical evolution. Complex solution is presented at selected examples from mathematical nonlinear systems to examples of anthems design and stabilization of deterministic chaos. The goal of this thesis is present examples of implementation and utilization of artificial algorithms by multi-objective optimization. To achieve optimal results is used designed software solution by multi-platform application, which used Matlab and Java interfaces. The software solution integrate every algorithms of this thesis to complex solution and it extends possible application of those approaches to real systems and practical world.

The aim of this thesis is to explore possibilities of rapid control prototyping, describe the concept of creating the software application in MATLAB/Simulink environment with use for development kit Texas instruments LaunchPad and create an application for DC and induction motor control in this environment. This work describes the application for unipolar/bipolar control H-Bridge of power converter for DC motor, measurement of output currents, speed and its displaying in real time using serial control interface. This thesis also desribes scalar and vector control of induction motor. All software applications with measurements are created in MATLAB/Simulink and attached to the thesis.

Standard IEC 61850-9-2 definuje přenos vzorkovaných měřených hodnot (sampled measured values, SMV) prostřednictvím sítě Ethernet a využití SMV získaných ze slučovacích jednotek nebo přístrojových transformátorů. Implementace IEC 61850-9-2 závisí na vlastnostech datového souboru, jakými jsou časová synchronizace, počet vzorků a časový interval. Dizertační práce je zaměřena na algoritmy chránění a analýzu vlivu standardu IEC61850-9-2LE na fyzická zařízení ochran s analogově/digitálními vstupními daty o proudu a napětí. S ohledem na narůstající míru interakce mezi fyzickými zařízeními a komunikačními prvky byl navržen test pro analýzu komunikace pro rozvodnu využívající konvenční metody (analogové vstupy) a metody digitální založené na standardu IEC 61850-9-2. Práce dále popisuje funkci slučovací jednotky využívající standard IEC61850-9-2LE. Navržená metoda definuje zdroj SMV a analyzuje přenos dat. V rámci práce byl za využití softwaru Matlab naprogramován algoritmus ochrany. Vytvořený model je schopen vyhodnotit vliv harmonického zkreslení na funkci digitálních ochran a vliv přesycení proudového transformátoru na distanční ochranu. V práci jsou zhodnoceny i možnosti zrychlení testování systémů chránění s využitím neuronové sítě. Závěrečná kapitola se zabývá aplikacemi v reálném čase, využívajícími data z rozvodny v blízkosti Vysokého učení technického v Brně. K přenosu dat z rozvodny do univerzitní laboratoře je zde využíváno SMV přenášených optickým kabelem o délce 16 km. Aplikace je vytvořena v programu Matlab a je schopna číst data z ethernetového portu, dekódovat je, převést z formátu ASCII do desítkové soustavy a poté vykreslit průběhy proudu a napětí. Mezi vlastnosti aplikace se řadí jednoduchost použití, schopnost implementace funkcí distanční ochrany, výpočet RMS hodnot proudu a napětí a harmonického zkreslení, harmonická analýza prostřednictvím rychlé Fourierovy transformace a výpočet impedance poruchové smyčky. Všechny výpočty běží v reálném čase a provedena je i citlivostní analýza modelu.