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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”
The aim of this master thesis is to develop a laboratory process that Saab Ericsson Space AB (SE) can use to demonstrate their fault tolerant computer systems at exhibitions. The process is an inverted pendulum shaped as a rocket to symbolize that the company develops fault tolerant control systems for satellites and carrier rockets e.g. for Ariane 5.
The inverted pendulum is a classical
The aim of this master thesis is to investigate a new control principal for Haldex Limited Slip Coupling. HLSC can be characterized as a hydraulic slip coupling intended to be part of a 4WD-system for passenger vehicles fitted between the front and rear axle. The investigation is to be both theoretical and practical. The current system can be described with the three following functional blocks: <
We have used a robot and a camera to design and implement a system which is able to play the known game Scrabble. To make this possible we have constructed a robot system and a vision system. The vision system task is to find the position of the cubes. The robot system uses these positions to generate the trajectories. The feedback from the camera is used to correct the trajectory. That the system
