A comparison of possible exponential polynomial approximations to get commensurate delays

The paper is aimed at a comparative simulation study on three prospective ideas how to approximate a general exponential polynomial by another one having all its exponents in the exp-function as integer multiples of some real number. This work is motivated by spectral properties of neutral time-delay systems (NTDS) and the contemporary state of the knowledge about the spectrum of NTDS with commensurate delays which are characterized by the latter family of exponential polynomials. The three ideas are, namely, those: Taylor series expansion, the interpolation in points given by dominant roots estimates and the special extrapolation technique presented by the authors recently. The goal is to match dominant parts of both the spectra as close as possible. However, some properties from the so called strong stability point of view can not be, in principle, preserved. The presented simulation example demonstrates the accuracy and efficiency of all the methods.Ministry of Education, Youth and Sports of the Czech Republic within the National Sustainability Programme [L01303, MSMT-7778/2014]; European Regional Development Fund [CZ.1.05/2.1.00/03.0089

Mixed-integer MPC for the temperature control of the batch reactor

Discrete Model Predictive Control (MPC) became one of the most widespread modern control principles. Process controls with a finite number of admissible values are common in a large number of relevant applications. For this type of optimization problems, the computational complexity is exponential in the number of binary optimization variables. The solver is based on a standard branch-and-bound method and interior point method is used for solution of the relaxed problem. The simulation experiment involved controlling the temperature of a batch reactor by using two on/off input valves and a discrete-position mixing valve.Ministry of Education, Youth and Sports of the Czech Republic within the National Sustainability Programme [L01303, MSMT-7778/2014

Self-tuning control: Laboratory real-time education

The combination of the automatic control theory courses and practical implementation of the designed controller algorithms in real-time conditions is very important for training of the control engineers. This contribution presents a MATLAB-Toolbox for design, simulation verification and especially real-time implementation of single input - single output (SISO) discrete self-tuning controllers. The proposed adaptive controllers what are included into a Toolbox can be divided into three groups. The first group covers PID adaptive algorithms using traditional Ziegler-Nichols method for the setting of the controller parameters, the second group of described controllers is based on the pole placement design and the third group contains the controllers derived on the other approaches (dead-beat, minimum variance etc.). The controllers are implemented as an encapsulated SIMULINK blocks and thus allows users simple integration into existing SIMULINK schemas. The process of developing real-time applications using MATLAB Real-Time Workshop and several control courses is also presented. The MATLAB-Toolbox is very successfully used in Adaptive Control Course in education practice for design and verification of self-tuning control systems in real-time. It is suitable for design and verification of the industrial controllers, too. The MATLAB-Toolbox is available free ofcharge at Internet site - bttp:llwww.utb.cz/stctooll. Copyright © IFAC Advances in Control Education Oulu, Finland, 200

Model of coupled drives apparatus - Static and aynamic characteristics

The paper presents an initial part of a modelling the Coupled Drives Apparatus CE108 developed by TecQuipment Ltd. The final model should be used in the process of control design for the apparatus. The model derived by the developers of the apparatus using first-principle modelling is used as a starting point for comparison of its properties with measured characteristics. The static and dynamic characteristics of the real-time apparatus are presented and discussed. Special attention is paid to principal differences between the model and the real-time apparatus. Real-time measurements are obtained using MATLAB / Simulink environment in connection with a Real-time Toolbox. Evaluation of the experiments is also performed in the MATLAB environment.Ministry of Education, Youth and Sports of the Czech Republic within the National Sustainability Programme [L01303, MSMT-7778/2014

The compare of civic amenities in the self-government territories of Pilsen Region

Tématem této bakalářské práce je porovnání občanského vybavení ve vybraných obcích v Plzeňském kraji. Pro toto porovnání byly zvoleny obce Třemošná, Horšovský Týn a Planá. V úvodní kapitole byly definovány základní pojmy. V dalších kapitolách byl analyzován a následně porovnán současný stav občanského vybavení jednotlivých obcí. Při analýze se vycházelo z dat dostupných ve strategických plánech zkoumaných obcí. Následně byl obyvatelům těchto obcí rozeslán dotazník ohledně spokojenosti s dostupností a kvalitou občanského vybavení. Cílem práce bylo zhodnocení úrovně občanského vybavení v jednotlivých obcích a navržení a kalkulace možných opatření pro obec Třemošnou.ObhájenoThe topic of this Bachelor Thesis is a comparison of civic amenities in the self-government territories of Pilsen Region. For this comparison were chosen the municipalities of Třemošná, Horšovský Týn and Planá. In the introductory chapter there were defined terms related to this topic. In other chapters, the current state of civic amenities in individual municipalities was analyzed and subsequently compared. The analysis was based on the data available in the strategic plans of the selected municipalities. Subsequently a questionnaire regarding satisfaction with the availability and quality of civic amenities was sent to the residents of selected municipalities. The result of this thesis was the assessment of the level of civic amenities in selected municipalities and the suggestion and calculation of possible precautions for the city of Třemošná

Simulators of "Balls" and "Trunks" Laboratory Models in Control Web

Obsahem této bakalářské práce je vytvoření dvojice simulátorů laboratorních modelů. Konkrétně se jedná o modely Třídičky kmenů a Dávkovače kuliček v prostředí Control Web 5. Simulátory budou použity při výuce programování programovatelných automatů, jako ukázka práce s virtuálním modelem. Zároveň je bude možné využít jako náhradu za reálné modely. Součástí práce je také popis původních modelů a uvádím zde také konfiguraci komunikace simulátorů a programovatelného automatu. Na závěr práce se zaměřuji na testování funkčnosti simulátorů.The subject of this bachelor thesis is creating two simulators of laboratory models. They are Strain sorter and Dispenser of the balls in the Control Web 5. These simulators will be use during lessons of programming programmable automation controllers to demonstrate working with virtual models. Also, these simulators can replace original models. This thesis also include description of these two models and description of configuration communication between simulator and programmable automation controller. In the end, I am focusing on the testing these models.

Unconventional machining methods

Tato bakalářská práce se zabývá tématem nekonvenční metody obrábění. V práci jsou přiblíženy obecné základy technologie frézování a dále je zpracováno obecné zasvěcení do problematiky vybraných technologií – válečkování, mikrokování za studena a ultrazvukového obrábění. V závěru práce je vypracován návrh na snížení drsnosti vnitřních, vnějších a tvarových ploch rámečku světlometu.This bachelor thesis deals with the topic of unconventional method of machining. The general principles of milling technology are approachd and the general introduction to the problems of selected technologies - rollering, cold micro-curing and ultrasonic machining is elaborated. At the end of the thesis a proposal is made to reduce the roughness of the interior, exterior and shaped surfaces of the headlight frame.632 - Katedra materiálů a technologií pro automobilyvelmi dobř

Design and construction of an inspection robot for the sewage pipes

Robotic systems are used wherever human limits are achieved. The inspection robots are used for securing the access to the manholes, pipes and sewage systems, for monitoring faults and for the eventual minor repairs. The paper presents the design, construction and assembly of a four-wheeled inspection robotic rover used in sewage pipes with diameters larger than 200 mm. We managed to design the robust, waterproof and dirt-resistant washable rover solution, which has been proved to be very functional and easy to produce. © The Authors, published by EDP Sciences, 2017

Robust and adaptive control of twin rotor MIMO system

The paper is focused on control of a Twin Rotor MIMO System - a laboratory model constructed by Feedback Instruments Ltd. The system consists of a two rotors attached to a bar which can freely turn around two axes. System behaviour resembles a simple helicopter. Significant cross-coupling can be observed and the system is nonlinear. A model in the MATLAB/Simulink environment, which was developed within the scope of previous work, was used to design and verify both adaptive and robust controllers of the system. Real-Time control using both approaches is presented in the paper. Results of adaptive and robust control are compared using both control courses and integrative criteria

Identification and self-tuning control of time-delay systems

Time-delays (dead times) occur in many processes in industry. A Toolbox in the MATLAB/SIMULINK environment was designed for identification and self-tuning control of such processes. The control algorithms are based on modifications of the Smith Predictor (SP). The designed algorithms that are included in the toolbox are suitable not only for simulation purposes but also for implementation in real time conditions. Verification of the designed Toolbox is demonstrated on a self-tuning control of a laboratory heat exchanger in simulation conditions