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Automatic control of the plasma radial position, extracted from magnetic measurements, in EXTRAP-T2 is simulated. A simple model of plasma, surrounding copper shell and vertical field coils have been used. Design is concentrated on the PD type of controller with parameters studied in relation to power supply performance, i.e. switching frequency and maximum output voltage. Effects of saturation, n
This document details the investigation and implementation of a product intended for supervision and management of standard computer and office equipment. The product is run from inside the ABB OperateIT Platform, as an Aspect System. The Aspect receives its data through communication with the CIM Object Manger, as suggested in the WBEM Initiative. The document also details the WBEM Initiative and
The topic of this thesis is to identify a surface with robot force control. To achieve this a robot performing contact force control on a surface while it also follows a trajectory is needed. All experiments were performed in the robot laboratory at the Department of Automatic Control at Lund Institute of Technology. The robot used was an ABB Irb-2000 robot, equipped with a wrist mounted force and
In situations where robots are performing manipulation tasks, e.g. welding, grinding, and drilling, it is necessary to avoid excessive forces in the contact with the environment. Because of geometric uncertainty and finite positioning accuracy this usually cannot be solved by position control alone. The subject of this thesis is robot force control, with particular interest devoted to impedance co
This Master Thesis has been written at EADS (European Aeronautic Defence and Space Company) Airbus in Bremen.The work contains a description of a few methods when linearising SystemBuild models in MATRIXx. MATRIXx is a tool for matrix manipulations (similar to Matlab) and SystemBuild is a graphical modeling environment (similar to SimuLink). The methods examined are the linearization command “lin”
The aim of this master thesis is to develop a laboratory process that Saab Ericsson Space AB (SE) can use to demonstrate their fault tolerant computer systems at exhibitions. The process is an inverted pendulum shaped as a rocket to symbolize that the company develops fault tolerant control systems for satellites and carrier rockets e.g. for Ariane 5.
The inverted pendulum is a classical
The aim of this master thesis is to investigate a new control principal for Haldex Limited Slip Coupling. HLSC can be characterized as a hydraulic slip coupling intended to be part of a 4WD-system for passenger vehicles fitted between the front and rear axle. The investigation is to be both theoretical and practical. The current system can be described with the three following functional blocks: <
We have used a robot and a camera to design and implement a system which is able to play the known game Scrabble. To make this possible we have constructed a robot system and a vision system. The vision system task is to find the position of the cubes. The robot system uses these positions to generate the trajectories. The feedback from the camera is used to correct the trajectory. That the system
In this report the motor side of a converter driven AC-locomotive is studied and modeled. The motor side consists of an asynchronous electrical engine, an indirect self controller, a voltage converter, a Pulse Width Modulator(PWM) and the train mechanics. The converter is supplied with voltage from a DC-link. The link is connected to a line converter which transfers energy from the railway net to
