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Possibilities to simulate control systems can be very useful. During the development of a control system, simulations can verify that the implemented algorithms work as expected. Smaller parts of the implementation can be tested before they are put together to a complete control system. In an existing plant simulation can be used for optimization of the control system and control parameters ca
This report is exploring the advantages and disadvantages with some common sensors needed when positioning a mobile robot with Ackerman steering. Both absolute and relative methods are explored. Odometry based on measuring traveled distance and steering angle is tested and adjusted to obtain the best performance. A Kalman filter is constructed to improve steering angle measurements. The tests are
This work deals with the issue of implementing a UML-RT standard, one of the latest notations for object oriented specification and design, in the developing-process of new real-time software for Radio Base Stations in the 2000 series at Ericsson. UML-RT is the real-time extension of the Unified Modeling Language (UML). The thesis investigates the design-, implementation- and verification-problems
More often than not one would encounter a problem, know that the solution has to meet some requirements, but do not how to start or how to progress towards solving it. Motivation for a computer that can solve the problem automatically without explicitly programming it is apparent, i.e. a computer that \programs itself", is greatly desired. The method of genetic programming has demonstrated it
The variety of different controllers is today very big. Much research is done in the field of neural network control and more well established technologies are sometimes looked at as old fashioned. The work is much based on the identification of a process model. In this report some different controllers have been built to see if neural networks are a good alternative to classic controllers. The cl
The goal of the Master Thesis is to upgrade the control of a power supply for a radar system. A controller based on Kalman filtering and state feedback has been developed for this two inputs two outputs system.
This paper describes tuning procedures for dead-time compensating controllers (DTC). Both stable and integrating processes are considered. Simple experiments are performed to obtain process models as well as bounds on the allowable bandwidth for stability. The DTC's used have few parameters with clear physical interpretation so that manual tuning is possible. Furthermore, it is shown how t
This thesis deals with manual control of unstable systems, subject to control signal constraints. Allocation of control authority is critical in this situation. The manual control, or reference following, must not be performed at the risk of loosing stability. The conflicting objective is to achieve acceptable reference following performance. Design of control systems under such circumstances is c
This master thesis has been done in Berlin at Daimler Chrysler. It is concerned with technological research and development for electrical engine. This thesis treats to evaluate what margins can be achieved by using energy storage system on rail vehicle. Energy storage devices, like accumulator, flywheels or capacitors are currently under consideration by the rail vehicle industry. The expected be
This report describes the usage of the SDL development tool Telelogic Tau SDL Suite with the LEGO Mindstorms Robotics Invention System. The purpose of the project was to produce an alternative to the custom built platform currently used by Telelogic for demonstration and education. The report focuses on the adaption of the C code that is generated by Telelogic Tau SDL Suite to the robot environmen
In process industry many control loops are far from optimally tuned. In this master's thesis a tool for rapid process identification and control design has been developed. The tool, which is implemented in Matlab 5.3, identifies a process model out of the step response of the real process. A PI or PID controller can then be designed and evaluated. The tool contains three different automatic de
One problem when new controllers or control systems are built is the test of the controllers or the control systems. One way to test the controller is to build a real process to test the controller against. Another way to test the controller is to build the process-model in some kind of computer simulation tool. The advantages of using a simulation tool in a computer are quite many. For example
Two different techniques exist for glass fiber production, direct melt bushing and marble bushing. The purpose of the project was to study the glass fiber production process and investigate the possibilty of constructing mathematical models from experimental data. This part also included implementation of a DAQ system to obtain the expeimental data. A second objective was to construct an efficent
Bluetooth is a new standard for wireless communication. The aim so far has mostly been to use this technology in an office environment. This master thesis considers the advantages of Bluetooth in an industrial environment. A general circuit board that uses Bluetooth for wireless communication has been constructed. The board can be seen in the picture to the right. This platform can easily be conne
The main purpose of this project has been to model one steam heated cylinder, which was taken as part of a drying section, moreover the design and structure of an existing process has been taken in consideration.
To develop this work ModelicaTM software has been used. Particular attention has been paid to reproduce the two time constants behavior of the dynamics in the pressure
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”
