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The purpose of this Master's Thesis was to compare and coordinate active chassis systems in a search for new ways of controlling two driving situations; side wind exposure and split friction braking. These situations were to be mastered by three active systems; active steering, brakes and suspension. Examples of how to use the systems were presented for each driving situation. The results from
A wheel loader is a tractor-like universal working machine with a bucket in the front which can be used for digging, loading and transporting different type of material. A driver of such a vehicle needs a lot of training and experience before he can handle the vehicle in a safe and efficient way. In order to reduce these demands on the driver, the vehicle should be made more autonomous. As a first
The aircraft of today use electrical fly-by-wire systems for manoeuvring. These safety-critical distributed systems are called flight control systems and put high requirements on the communication networks that interconnect the parts of the systems. Reliability, predictability, flexibility, low weight and cost are important factors that all need to be taken in to consideration when designing a saf
This thesis presents, analyzes and suggests solutions to the dead-lock problem of the sensorless variable speed drive NFO Sinus. Friction, measurement, parameter estimation and quantization effects are believed possible origins of this problem and is hence studied. A short introduction to field oriented control of the asynchronous AC motor and the NFO Control strategy is also included
In this thesis a model of the drying process in a paper mill has been adapted to paper machine 3 at Hylte Mill. The model is mainly based on a previous work by my supervisor Ola Slätteke PhD (at the Department of Automatic Control). New models have also been developed for the condensate system, e.g. condensate tanks, pumps, pipes and siphons. Models with a control system for the drying process hav
In a wireless communication system, the channel is ever changing due to multipath properties such as excess delays and constructive and destructive interference. In a step to optimize system performance, it would be beneficial to have access to channel state information of both present subchannels' future development and subchannels outside the currently used frequency interval. In this thesis
The objective with the master thesis project is to develop an Electronic Batch Record (EBR) solution for the AstraZeneca TPS division and map it to the ISA 95 model for Manufacturing Execution System s (MES). The EBR solution in addition to current and new manufacturing systems will form an AstraZeneca TPS model for MES, which can be used for further evaluation and system development guidance. The
The goal of this semester project was to set up the mathematical model for the simplified process of the spherical pendulum, develop a simulation model of the process in Modelica that could then also be animated in 3D, and finally, design a controller for the process. The simplification is that the pendulum cannot turn about its own axis. For the Modelica model, a Pendulum Library, with the essent
Testing of control code written in IEC 61131-3 has long been a strenuous manual process. The focus in this master's thesis is on building a simulator of an Alfa Laval separator to enable testing of control code. In this particular case, the control code being tested is written and executed in a soft PLC called TwinCAT. The simulator for testing code is written in C#. When testing code, automat
At the department of Automatic Control at Lund Institute of Technology a mobile robot has to be assembled. The capabilities of the vehicle comprises a possibility to control it via internet with the help of a Java-applet as well as a function that realizes an autonomous navigation through a predefined environment. The first part of this work deals with the implementation of the remote control func
The topic of this master thesis is cooperative robots. The master and slave configuration is to be used for cooperative tasks and the task chosen is to move a flexible beam together. A trajectory is fed to the master robot to move it to the desired positions. The slave robot then follows the movement of the master robot by force control using force measurements from a force sensor. All experiments
The aim of this project is to control a double linked inverted pendulum called the "Pendubot". A cascade control scheme has been developed at Laboratoire d'Automatique (EPFL) for this purpose. The structure of the cascade scheme is: Input-output feedback linearization and a linear controller in the inner-loop to assure the control of the fi-angle, the outer loop is responsible for st
The current generation of earth-based telescopes has been of great use to astronomers for the past decades. New fields of astrophysics like the search for and analysis of earth-like planets would however need telescopes with even better resolution. These telescopes are called Extremely Large Telescopes and an ongoing project to develop such a telescope is the Euro50 project. For the Euro50 telesco
The process of hydro plant is on first sight easy to understand and well documented. Development of new control strategies could be accordingly based on that knowledge and trial and error approach at the commissioning. This traditional approach shows to be time consuming and expensive. Plant models available are often obsolete as they are simplified for the narrow linear range of the working area
This master thesis concerns the analysis and implementation of a tire slip controller for an off-the-shelf RC-model car. The Anti-lock brake system was implemented using two Atmel microcontrollers programmed in C, and sensors on all four wheels in additional to the standard electronics of the model car. The control strategy used was PI-methodology.' The car is able to accelerate and brake at a
Characterized by a high ratio between the height of center of gravity and the track-width, commercial vehicle dynamics differ from passenger car dynamics. The roll stability limit, measured in terms of lateral acceleration, is much lower, while longitudinal and lateral load transfer during braking and cornering reduce the yaw stability, resulting in roll motion. Rollovers are dangerous and possibl
The first part of this thesis investigates if probing control can be applied to glucose feeding of the bacteria Bacillus subtilis producing the enzyme xylanase. The experimental work reveals unexpected results, where growth and cell/glucose yield are significantly lower in the feed phase than in the batch phase of a fed-batch cultivation. The reason for this is still unclear, but some hypotheses a
The problem of (online) state estimation for dynamical systems arises frequently in control. The well known Kalman Filter comprises a coherent theory for the case of linear systems with Gaussian noise, but as soon as either condition is relaxed the picture becomes much less clear. This thesis investigates the case when process disturbances and measurements are relaxed from Gaussian to log-concave.
This thesis deals with some aspects of the Nowait Transit train concept in order to provide insight and guidelines for further development. The train constitutes an interconnected closed string of cars and requires track areas with complex rail geometry. The thesis is divided into two parts where the first part provides a strategy in order to ensure smooth passing through these zones. The main par
This master thesis has been development at the Department of Automatic Control in Lund University between October 2003 and February 2004 under the supervision of Karl-Erik Årzen.The topic of this master thesis has been to investigate and implement the code generation for an AVR Mega8 microcontroller from JGrafchart, program development by the Department of Automatic Control.This project concerns t
