Developing and Controling Robot Arm Model with Avnet Microzed Development BoardMarko Purić
, 2019, magistrsko delo
Opis: This master's thesis describes development and building of the SCARA robot arm with two rotational joints. Using SolidWorks, model of the SCARA robot was built, serving as development tool for the physical model. Controlling the SCARA robot was done with MicroZed development board, based on the Zynq-7000 SoC, which consists of a field-programmable gate array (FPGA) and ARM Cortex-A9 processor.
Purpose of this master's thesis was to build a SCARA robot and utilize the FPGA for interaction with peripherals, ARM Cortex-A9 processor was used for implementing a cascading control system. This master's thesis is the foundation for future work involving advanced control techniques consisting of nonlinear controllers, which are developed in the Laboratory for Cognitive Systems and Mechatronics at Faculty of Electrical Engineering and Computer Science at Maribor.
Ključne besede: SCARA robot, cascade control system, FPGA, Zynq-7000 SoC, MicroZed development board
Objavljeno: 29.01.2020; Ogledov: 394; Prenosov: 50
Celotno besedilo (3,69 MB)
Development of RFID/NFC based access control systemDarko Topić
, 2018, magistrsko delo
Opis: The master thesis describes the development of NFC/RFID access control system based on the ARM platform. The access control system is widely used in different applications. The goal of this thesis is to develop a smart NFC access control system used for accessing an elevator, where users could use only NFC tags to access a specific floor. The design of the proposed NFC access control system is based on the ARM platform, while the developed NFC antenna guarantees wide scanning range. At the end of the thesis the results are presented.
Ključne besede: access control system, RFID, NFC, MIFARE, ARM processor, embedded system, short-range communication, contactless communication, ISO/IEC 14443
Objavljeno: 23.05.2018; Ogledov: 2312; Prenosov: 352
Celotno besedilo (7,51 MB)
The impact of wind-power generation on the planning of regulating reserveDunja Srpak
, 2018, doktorska disertacija
Opis: This doctoral thesis focuses on the efficient management of a power system with a large share of wind-power generation and on the methods for planning the operating reserve. The approach proposed in this research involves the use of data directly from the network’s dispatch center and the forecasting systems, as well as already existing day-ahead plans for wind and load power to determine the regulating reserve for the load frequency control (LFC). The same principle is used to find the optimal regulating reserve distribution (RRD) between the available generation units in the system for automatic generation control. It is developed using iterative power-flow computation with a reactive power correction and a stochastic search algorithm for transmission-loss minimization. Moreover, variations in the generation of individual wind-power plants (WPPs) from the plan are considered in the optimal RRD.
A special focus of this research has been put on the Croatian power system due to the accessibility of relevant information and operating data. The obtained results of the testing with actual data from the Croatian power system indicate substantial savings in ancillary service costs for the LFC, while ensuring safe system operation. The considerable impact of variations from the plan for each individual WPP generation on the optimal RRD was also identified. Comparing the results for the daily sum of regulating reserves obtained with the proposed and the currently used approaches, the corresponding costs indicate a total saving of 21.2% for all 12 selected days in 2015 when using the proposed approach. In practice, a part of the reserve can be slow, i.e., with a lower unit price, thus the savings would be even higher. Furthermore, the obtained optimal RRD computed according to the proposed approach was compared with four commonly used RRDs in Croatia. The results obtained using the proposed approach indicate a decrease in the total transmission losses of between 1% and 2%. With a larger share of the generation from the WPPs and with more dispersed locations of the WPPs and regulating power plants a larger reduction in the transmission losses is expected.
Ključne besede: Evolutionary computation, Frequency control, Optimization, Power system, Regulating reserve, Wind power generation
Objavljeno: 28.03.2018; Ogledov: 791; Prenosov: 249
Celotno besedilo (9,03 MB)
Design of Lyapunov based nonlinear velocity control of electrohydraulic velocity servo systemsEdvard Detiček
, Nenad Gubeljak
, Mitja Kastrevc
, 2017, izvirni znanstveni članek
Opis: Development of a hydraulically driven process of steel centrifugal die casting industry requires accurate response of position in time. In the frame of preliminary investigations the analysis and control of electrohydraulic velocity servo system is considered in the presence of flow nonlinearities and internal friction. The nonlinear and uncertainty characteristics make the conventional controller not yield to the system high requirements. Two different nonlinear design procedures are employed: feedback linearization and backstepping. It is shown that both these techniques can be successfully used to stabilize any chosen operating point of the system. Additionally, invaluable new insights are gained about the dynamics of the system under consideration. This illustrates that the true potential of constructive nonlinear design lies far beyond the mere task of achieving a desired control objective. All derived results are validated by computer simulation of the nonlinear mathematical model of the system.
Ključne besede: computer simulation, electro-hydraulic velocity servo system, integrator backstepping, Lyapunov methods, velocity control
Objavljeno: 11.07.2017; Ogledov: 587; Prenosov: 281
Celotno besedilo (1,52 MB)
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Optimized PID position control of a nonlinear system based on correlating the velocity with position errorNenad Muškinja
, Matej Rižnar
, 2015, izvirni znanstveni članek
Opis: We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel-based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real-time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.
Ključne besede: position control, nonlinear system, position error
Objavljeno: 15.06.2017; Ogledov: 535; Prenosov: 350
Celotno besedilo (3,23 MB)
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