Differential Evolution Based Nonlinear Model Predictive Speed Control of PMSM Implemented on GPU

In this paper, the novel approach to the nonlinear model predictive speed control of a permanent magnet synchronous motor and its implementation is introduced. The implementation is performed using general-purpose computing on graphics processing unit. The introduced algorithm uses the optimization method based on the differential evolution to get the optimal increment of stator voltage. The proposed algorithm is tested in the processor in the loop simulation with the Simscape model for the simulation of PMSM and the Jetson Xavier embedded device for the algorithm execution. The results show the ability of the algorithm to ensure the reference tracking and to keep the requested variables within their limits

Computer simulator for education

This bachelor thesis is divided into several parts. The first part consists of an introduction to individual parts of a processor and some of its peripheries. Next part of thesis is a research of existing educational and demonstrative tools usable in education. Results of the research were compiled into requirements for educational system. Using those requirements, and design of an architecture for educational processor for education, not only on FEEC BUT was created. As a next step, there is described a procedure, that led to a creation of a working simulator of the designed processor. Last part of this thesis is a design of several educational exercises, that demonstrates principles of computers and programming in a machine code and an assembly language

Computer simulator for education

Tato bakalářská práce se dělí na několik částí. První obsahuje seznámení s jednotlivými komponentami procesoru a několika jeho periferiemi. Další částí práce je rešerše reálných, výukových a demonstračních prostředků použitelných ve výuce. Z výsledků této rešerše byly vytvořeny požadavky na výukový systém. Podle požadavků byl proveden návrh architektury výukového procesoru pro výuku nejen na UAMT VUT. V práci je také popsán postup, který vedl k vytvoření fungujícího simulátoru navrženého procesoru. Poslední částí práce je návrh několika výukových úloh, které demonstrují principy fungování obecného počítačového systému a problematiku programování ve strojovém kódu a jazyku assembler.This bachelor thesis is divided into several parts. The first part consists of an introduction to individual parts of a processor and some of its peripheries. Next part of thesis is a research of existing educational and demonstrative tools usable in education. Results of the research were compiled into requirements for educational system. Using those requirements, and design of an architecture for educational processor for education, not only on FEEC BUT was created. As a next step, there is described a procedure, that led to a creation of a working simulator of the designed processor. Last part of this thesis is a design of several educational exercises, that demonstrates principles of computers and programming in a machine code and an assembly language.

Comparison of H-infinity and LQG controller

Práce se zabývá popisem MIMO systémů a porovnáním frekvenčních charakteristik, kromě jiných i charakteristikou singulárních hodnot. Jsou definovány H2 a H normy pro signály a MIMO systémy. Dále je popsán způsob optimální regulace MIMO systému pomocí LQG, H2 a H řízení, jejich obecné výhody, nevýhody a vzájemné podobnosti. Je implementován výpočet stavových H2 a H regulátorů a rekonstruktorů. Pomocí H kaskádní regulace, H2 optimálního LQG řízení a H ekvivalentu LQG je vyřešena úloha inverzního kyvadla na vozíku. Výsledky jsou mezi sebou srovnány. Je přednesena teorie o možnosti návrhu identických H2 a H stavových regulátorů.This thesis deals with the MIMO system analysis, with a comparison of a different frequency charactersitics, and including singular values characteristic. The H2 and H norms are defined for signals and a MIMO systems. A MIMO optimal control using an LQG, an H2 and an H control is defined and described. Their general advantages, disadvantages and similarities are summed up. An H2 and an H state controller and state observer synthesis is implemented in a MATLAB using linear matrix inequalities. Control of an inverted pendulum is designed using the H optimal cascade control, the H2 state control and the H state control. The results are compared with each other. The theoretical possibility of same H2 and H optimal state controller design is presented.

Derivation And Practical Comparison Of Recursive Ls And Tls System Identification Methods

The least squares (LS) type of methods are the most widely used methods in system identificationdespite their obvious imperfection. Such methods use a regressor, that is supposed not tocontain any error, notwithstanding that it is constructed from measured data. This can be solved byusing the total least squares (TLS) type of methods. Derivation of both batch and recursive methodsof LS and TLS for identification and their practical comparison is presented in this pape

Edems - Computer Simulator For Learning

This article introduces new educational and demonstrative tool for microprocessor technology called EDEMS, which is designed to ease teaching of microprocessors at universities, high schools and at homes of enthusiasts. It describes reasons of its creation, problems that it solved, and main advantages of this solution