Semestral project Logical control of model motor units (SP1)
Bachelor project Feedback control of model motor units (BP1)
Bachelor project Q. monitoring of ZigBee communication and contactless position sensing (BP2)
Bachelor project Wireless software upgrade of control module of ZigBee communication (BP3)
Master’s thesis Model-based control of robots (MT1)
Master’s thesis Model-based control for distributed mechatronic systems (MT2)
Master’s thesis Model-based control of electric motors with permanent magnets (MT3)
Dissertation thesis Predictive control for industrial machines and robots (Dis1)


General information
 
Theme Logical control of model motor units (SP1)
Supervisor Ing. Květoslav Belda, Ph.D.
Affiliation / Phone ÚTIA, Pod Vodárenskou věží 4, Praha 8   /  26605 2310
E-Mail / Web belda@utia.cas.cz  /  http://as.utia.cas.cz/asc
Key Words Logical control, truth table, distributed mechatronic systems
Specification Industrial production is more and more realized with increasing number of productive components generally mechanical, electromechanical, electrical or electronic ones. The components form usually one technological set. It can be manipulation, machining, quality checking, packing, etc. operations, in which the components represent individual or cooperative distributed system. For mentioned components above, the system is called mechatronic system.
Such system can be controlled on different levels form simple manual and fixed control, via logical feedback control up to high-level continual feedback control. The issue is usually managing of several motor units (drives) to be worked in common time rate.
The aim of the theme is a design and technical documentation of simple logical control, which provides simple user control of several partially independent model motor units.
Tasks

1.

Study and describe available signals and individual motor units’ respon-ses of distributed mechatronic system.

2.

Realize simple logical control as Simulink model in programmable environment MATLAB-Simulink.
Literature

1.

Saleem, A.: Mechatronics System Design, Controller and control algo-rithm Selection, Philadelphia University, 2010.

2.

Online Manuals: Using MATLAB, Simulink; The MathWorks, Inc.
http://www.mathworks.com/.

3.

Other full-text sources: http://as.utia.cas.cz/asc/ - Link to GPC pages.
Note Theme for semester project or bachelor project.
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Theme Feedback control of model motor units (BP1)
Supervisor Ing. Květoslav Belda, Ph.D.
Affiliation / Phone ÚTIA, Pod Vodárenskou věží 4, Praha 8   /  26605 2310
E-Mail / Web belda@utia.cas.cz  /  http://as.utia.cas.cz/asc
Key Words Distributed mechatronic system, feedback control, real-time control, modeling, mathematical-physical analysis
Specification Industrial production is more and more realized with increasing number of productive components generally mechanical, electromechanical, electrical or electronic ones. The components form usually one technological set. It can be manipulation, machining, quality checking, packing, etc. operations, in which the components represent individual or cooperative distributed system. For mentioned components above, the system is called mechatronic system.
Such system can be controlled on different levels form simple manual and fixed control, via logical feedback control up to high-level continual feedback control. The issue is usually managing of several motor units (drives) to be worked in common time schedule.
The aim of the theme is a design and technical documentation of feedback control, which provides automatic control of several independent model motor units.
Tasks

1.

Study and select suitable feedback control for distributed mechatronic system.

2.

Compose mathematical description of individual model motor unit.

3.

Apply or implement selected feedback control in real-time in program-mable environment MATLAB-Simulink.
Literature

1.

Saleem, A.: Mechatronics System Design, Controller and control algo-rithm Selection, Philadelphia University, 2010.

2.

Maciejowski, J., M.: Predictive Control with Constrains, Prentice Hall, London 2002.

3.

Online Manuals: Using MATLAB, Simulink; The MathWorks, Inc.
http://www.mathworks.com/.

4.

Other full-text sources: http://as.utia.cas.cz/asc/ - Link to GPC pages.
Note Theme for bachelor project.
 ▲   

 
Theme Q. monitoring of ZigBee communication and contactless position sensing (BP2)
Supervisor Ing. Pavel Píša, Ph.D.  /  Proposer: Ing. Květoslav Belda, Ph.D.
Affiliation / Phone CTU, FEE, Karlovo nám. 13, Prague 2  /  22435 7223
UTIA, Pod Vodárenskou věží 4, Prague 8  /  26605 2310
E-Mail / Web pisa@fel.cvut.cz  /  http://cmp.felk.cvut.cz/~pisa/
belda@utia.cas.cz  /  http://as.utia.cas.cz/asc
Key Words ZigBee communication protocol, odometry, distributed mechatronic system, quality monitoring and analysis
Specification Wireless communication is spread more and more in industrial automation. It offers flexible modifications of component connection or component mobility independent of fixed wires connection. It has advantage e.g. in production backup to avoid unplanned shut-downs.
The aim of the theme is a monitoring and analysis of the quality of wireless communi-cation based on ZigBee protocol and contactless position sensing as well. On the basis of the obtained results, the possible improvements of the sensing and communication have to be determined and possibly realized.
Tasks

1.

Study ZigBee communication protocol.

2.

Study technical solutions of contactless position sensing.

3.

Monitor and analyze quality of ZigBee communication protocol and contactless position sensing.

4.

Propose possible ways of improvement for contactless position sensing (sensors, scan surfaces etc.) and select a way with the most expected improvement effect to be realized.
Literature

1.

ZigBee Alliance home page: http://www.zigbee.org.

2.

Rychnovský, V.: Control system with application of wirelles ZigBee communication (in czech), Master's Thesis, CTU in Prague 2011.

3.

Online Manuals: Using MATLAB, Simulink; The MathWorks, Inc.
http://www.mathworks.com/.

4.

Other full-text sources: http://cmp.felk.cvut.cz/~pisa/
http://as.utia.cas.cz/asc/ - Link to GPC pages.
Note Theme for bachelor project or master’s thesis.
 ▲   

 
Theme Wireless software upgrade of control module of ZigBee communication (BP3)
Supervisor Ing. Pavel Píša, Ph.D.  /  Proposer: Ing. Květoslav Belda, Ph.D.
Affiliation / Phone CTU, FEE, Karlovo nám. 13, Prague 2  /  22435 7223
UTIA, Pod Vodárenskou věží 4, Prague 8  /  26605 2310
E-Mail / Web pisa@fel.cvut.cz  /  http://cmp.felk.cvut.cz/~pisa/
belda@utia.cas.cz  /  http://as.utia.cas.cz/asc
Key Words ZigBee communication protocol, open components TinyOS
Specification Wireless communication is spread more and more in industrial automation. It offers flexible modifications of component connection or component mobility independent of fixed wires connection. It has advantage e.g. in production backup to avoid unplanned shut-downs.
The aim of the theme is realization of wireless upgrade of utility software for control module of ZigBee communication.
Tasks

1.

Study ZigBee communication protocol.

2.

Design and modify utility software for control module.

3.

Realize and verify designed utility software module for wireless software upgrade of control module of ZigBee communication
Literature

1.

ZigBee Alliance home page: http://www.zigbee.org.

2.

Rychnovský, V.: Control system with application of wirelles ZigBee communication (in czech), Master's Thesis, CTU in Prague 2011.

3.

Online Manuals: Using MATLAB, Simulink; The MathWorks, Inc.
http://www.mathworks.com/.

4.

Other full-text sources: http://cmp.felk.cvut.cz/~pisa/
http://as.utia.cas.cz/asc/ - Link to GPC pages.
Note Theme for bachelor project or master’s thesis.
 ▲   

 
Theme Model based control of robots (MT1)
Supervisor Ing. Květoslav Belda, Ph.D.
Affiliation / Phone UTIA, Pod Vodárenskou věží 4, Prague 8   /  26605 2310
E-Mail / Web belda@utia.cas.cz  /  http://as.utia.cas.cz/asc
Key Words Industrial robots, predictive control, real-time control, modeling, mathematical-physical analysis
Specification Robots and manipulators are fundamental parts in industrial production. They are especially characterized by their flexibility in the use and certain degree of autonomous intelligence. This character enables them to change their environment contrary to other production machines.
With development of new robot structures, the requirements on their control grow too. Perspective direction is the use of the controllers constructed on model-based control strategies. These strategies enable to spread the energy to individual robot drives and by this their full utilization.
The aim of the theme is a development of algorithms of predictive control, which belongs to model-based control strategies.
Tasks

1.

On the basis of mathematical-physical analysis compose mathematical model of given robot.

2.

Study the basis of the predictive control design and derive suitable selected its algorithm.

3.

Prove this algorithm by simulation and in case of availability of laboratory model of considered robot, prove the algorithm even on this model.
Literature

1.

Maciejowski, J., M.: Predictive Control with Constrains, Prentice Hall, London 2002.

2.

Rossiter, J., A.: Model-Based Predictive Control – A Practical Approach, CRC Press, London 2003.

3.

Other full-text sources: http://as.utia.cas.cz/asc/ - Link to GPC pages.
Note Theme for thesis.
 ▲   

 
Theme Model-based control for distributed mechatronic systems (MT2)
Supervisor Ing. Květoslav Belda, Ph.D.
Affiliation / Phone UTIA, Pod Vodárenskou věží 4, Prague 8   /  26605 2310
E-Mail / Web belda@utia.cas.cz  /  http://as.utia.cas.cz/asc
Key Words Distributed mechatronic system, predictive control, modeling, mathematical-physical analysis
Specification Industrial production is more and more realized with increasing number of productive components generally mechanical, electromechanical, electrical or electronic ones. The components form usually one technological set. It can be manipulation, machining, quality checking, packing, etc. operations, in which the components represent individual or cooperative distributed system. For mentioned components above, the system is called mechatronic system.
Such system can be controlled on different levels form simple manual and fixed control, via logical feedback control up to high-level continual feedback control. The issue is usually managing of several motor units (drives) to be worked in common time schedule.
The aim of the theme is a design and technical documentation of model-based control of several independent model motor units.
Tasks

1.

Study and select suitable feedback control for distributed mechatronic system.

2.

Compose mathematical description of individual model motor unit.

3.

Apply or implement selected model-based control in programmable envi-ronment MATLAB-Simulink.
Literature

1.

Saleem, A.: Mechatronics System Design, Controller and control algo-rithm Selection, Philadelphia University, 2010.

2.

Maciejowski, J., M.: Predictive Control with Constrains, Prentice Hall, London 2002.

3.

Online Manuals: Using MATLAB, Simulink; The MathWorks, Inc.
http://www.mathworks.com/.

4.

Další plnotextové zdroje: http://as.utia.cas.cz/asc/ - Link to GPC pages.
Note Theme for master’s thesis.
 ▲   

 
Theme Model-based control of electric motors with permanent magnets (MT3)
Supervisor Ing. Pavel Píša, Ph.D.  /  Consultant: Ing. Květoslav Belda, Ph.D.
Affiliation / Phone CTU, FEE, Karlovo nám. 13, Prague 2  /  22435 7223
UTIA, Pod Vodárenskou věží 4, Prague 8  /  26605 2310
E-Mail / Web pisa@fel.cvut.cz  /  http://cmp.felk.cvut.cz/~pisa/
belda@utia.cas.cz  /  http://as.utia.cas.cz/asc
Key Words Synchronous electric motors with permanent magnets, speed control, force control, predictive control, modeling, mathematical-physical analysis
Specification Latest development stage in the domain of electric motors is represented by brushless alternate current electric motor, also known as a permanent magnet synchronous motor (PMSM). These motors are employed in many applications connected with industrial robotics and machine tools and driving of transport means.
The aim of the theme is a composition of suitable mathematical description of PMSM electric motors for model-based control and algorithmic implementation of the control.
Tasks

1.

Study basic types of structural configuration of synchronous electric motors with permanent magnets.

2.

On the basis of mathematical-physical analysis compose suitable mathematical model of synchronous motor with permanent magnets.

3.

Study the basis of model-based control design and select suitable algorithm for motor control. Consider separately position control, speed control and torque (force) control.

4.

Prove selected algorithm by simulation and in case of availability of real electric motor, prove it experimentally as well.
Literature

1.

Freescale Semiconductor: 3-Phase PM Synchronous Motor Vector Con-trol Using a 56F80x, 56F8100, or 56F8300 Device, Application Note Rev. 3, 1/2005, http://cache.freescale.com/files/product/doc/AN1931.pdf.

2.

Rossiter, J., A.: Model-Based Predictive Control – A Practical Approach, CRC Press, London 2003.

3.

Další plnotextové zdroje: http://as.utia.cas.cz/asc - Link to GPC pages,
http://cmp.felk.cvut.cz/~pisa/.
Note Theme for master’s thesis.
 ▲   

 
Theme Predictive control for industrial machines and robots (Dis1)
Supervisor Ing. Květoslav Belda, Ph.D.
Affiliation / Phone ÚTIA, odd. adaptivních systémů, Pod Vodárenskou věží 4, Praha 8   /  26605 2310
E-Mail / Web belda@utia.cas.cz  /  http://as.utia.cas.cz/asc
Key Words Industrial robots, predictive control, CNC control, real time control, modeling, mathematical-physical analysis
Specification Aim of the work is design, software optimization and implementation of predictive control algorithms form mechatronic structures forming the basis of the industrial machines and robots. Implementation of algorithms is assumed in the form of autonomous functions, for independent tests and experiments on different types of mechatronic configurations.
Tasks

1.

Study control algorithms of predictive control.

2.

Make model (mathematical-physical) analysis and compose mathematical model of the real mechatronic structure.

3.

Analyze dimensions of functional parameters, inputs and outputs.

4.

Design suitable optimization procedure of on-line processing of CNC programs for control algorithms.

5.

Implement designed control algorithms by M functions and S functions for MATLAB & Simulink.
Literature

1.

Belda, K., Böhm, J., Píša, P.: Concepts of Model-Based Control and Trajectory Planning for Parallel Robots. Proc. of 13th IASTED Int. Conf. on Robotics and Applications 2007, Würzburg, Germany. pp. 15-20.

2.

Bobál, V., Böhm, J., Fessl, J., Macháček, J.: Digital Self-tuning Controllers Algorithms, Implementation and Applications, Springer 2005.

3.

J. A. Rossiter: Model-Based Predictive Control, A Practical Approach, London, CRC Press, 2003.

4.

Other full-text sources: http://as.utia.cas.cz/asc - Link to GPC pages.
Note Theme for dissertation.
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