Fakulta elektrotechniky a informatiky / Faculty of Electrical Engineering and Informatics
Stálý URI pro tuto komunituhttps://hdl.handle.net/10195/3847
Práce obhájené před rokem 2008 jsou uloženy pouze v kolekci Vysokoškolské kvalifikační práce
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Konferenční objektpeer-reviewedpostprint (accepted version) Omezený přístup Non-square Multivariable System Control Case Study – Static Optimal Compensator Design and Application(Springer Science and Business Media, 2021) Varga, Dominik; Honc, Daniel; Dušek, FrantišekBy multivariable decentralized control, changing one set-point in result acts as a disturbance to other control loops. This can be solved by using multivariable controller or compensator. In this paper, a novelty approach to control non-square eighth-order system with four inputs and three outputs is demonstrated using a static compensator that guarantees autonomy in the steady state (changing one input, affects one output) and also optimal solution for non-square overdetermined systems (systems with more manipulated variables than controlled variables). To evaluate the control quality of this method, the system is also controlled without static compensator for comparison.Konferenční objektpeer-reviewedpostprint (accepted version) Otevřený přístup RCDue - Laboratory System for Teaching Automation and Control - Concept of the system(IEEE (Institute of Electrical and Electronics Engineers), 2021) Dušek, František; Honc, Daniel; Mrázek, MichalPaper describes an implementation of a low cost but nontrivial laboratory system for automation and control theory teaching purposes. The system called RCDue consists of two parts - a dynamic system module and a control unit providing measurement, control and communication with MATLAB through USB serial port. Wiring of the dynamic system module can be modified to get a system of the desired behavior. Application example named as R5C4 with four RC circuits is described together with its mathematical model and calculated step responses. The system can be used in laboratory for practical education of C or MATLAB programming, modelling and identification or control theory subjects.Konferenční objektpeer-reviewedpostprint Otevřený přístup Software for Thermogravimeter(IEEE (Institute of Electrical and Electronics Engineers), 2019) Dušek, František; Honc, Daniel; Havlíček, Libor; Merta, JanSoftware for thermogravimeter constructed at the Department of Inorganic Technology, University of Pardubice is presented in the paper. Used hardware and design of the experiment is described briefly. Main part of the paper focusses to the software solution in MATLAB environment. Except control, plotting and data exporting tasks it was necessary to communicate with Eurotherm nanodac Recorder / Controller through the TCP/IP Modbus protocol and with Sartorius weigh cell through the serial USB ASCII-based protocol. Simple example of Constant Rate Thermal Analysis experiment is given at the end of the paper.Konferenční objektpeer-reviewedpostprint Otevřený přístup Predictive Control of Nonlinear Plant Using Piecewise-Linear Neural Model(IEEE (Institute of Electrical and Electronics Engineers), 2017) Honc, Daniel; Doležel, Petr; Gago, LumírA special form of a predictive controller is presented in this paper. Based on previous authors' work, a piecewise-linear neural model of nonlinear plant to be controlled is adopted to local linearization. The linearized model is then used for control action evaluation using a predictive controller. Although the linearization using piecewise-linear neural network is simple and efficient, it provides the model in a nonstandard form. Therefore, the proposed predictive controller is designed in order to handle that nonstandard model without any customization. At the end of the paper, the illustrative example demonstrates the main features of the introduced solution.Konferenční objektpeer-reviewedpostprint Otevřený přístup Optimal control with disturbance estimation(Nottingham Trent University, 2017) Dušek, František; Honc, Daniel; Kizhakke Illom, Rahul SharmaThe paper deals with a very common situation in many control systems and this is the fact that, for zero control action, the controlled variable is nonzero. This is often caused by the existence of another process input which is uncontrolled. Classic controllers do not take into account the second input, so deviation variables are considered or some feedforward controller is used to compensate the variable. The authors propose a solution, that the process is considered as a system with two inputs and single output (TISO). Here, the uncontrolled input is estimated with the state observer and the controller is designed as the multivariable controller. A Linear-quadratic (LQ) state-feedback control and model predictive control (MPC) of simple thermal process simulations are provided to demonstrate the proposed control strategy.Konferenční objektpeer-reviewedpostprint Omezený přístup PREDICTIVE CONTROL OF DIFFERENTIAL DRIVE MOBILE ROBOT CONSIDERING DYNAMICS AND KINEMATICS(EUROPEAN COUNCIL MODELLING & SIMULATION, 2016) Sharma K., Rahul; Honc, Daniel; Dušek, FrantišekThe paper deals with trajectory tracking of the differential drive robot with a mathematical model governing dynamics and kinematics. Motor dynamics and chassis dynamics are considered for deriving a linear state-space dynamic model. Basic nonlinear kinematic equations are linearized into a successively linearized state-space model. The dynamic and kinematic models are augmented to derive a single state-space linear model. The deviation variables are reference variables which are variables of an ideal robot following a reference trajectory which can be pre-calculated. Reference tracking is achieved by model predictive control of supply voltage of both the drive motors by considering constraints on controlled variables and manipulated variables. Simulation results are provided to demonstrate the performance of proposed control strategy in the MATLAB simulation environment.