Frantisek Durovsky

Modeling and simulation of the BLDC motor in MATLAB GUI

The paper proposes a model of brushless DC motor considering behavior of the motor during commutation. The torque characteristic of BLDC motor presents a very important factor in design of the BLDC motor drive system, so it is necessary to predict the precise value of torque, which is determined by the waveforms of back-EMF. After development of simple mathematical model of the BLDC motor with sinusoidal and trapezoidal waveforms of back-EMF the motor is simulated in the MATLAB/Simulink environment. Based on analysis of the time responses a comparison study of results of both BLDC motor types is presented in Graphical User Interface of MATLAB environment.

Dynamic Emulation of Mechanical Loads with Backlash Based on Rapid Control Prototyping

The paper discusses advanced control of a dynamometer performing dynamic emulation of mechanical loads. Assumed is certain class of nonlinear load with backlash. Paper presents and describes the basic control structure, which can be used for validation of speed algorithms and its practical implementation with rapid control prototyping. Validation of experimental results against the simulations has been performed with experimental test bench containing permanent magnet DC machines and DC-DC converters with high sampling times in current control loops.

Autonomous flying with quadrocopter using fuzzy control and ArUco markers

In this paper, we present an approach which enables a low-cost quadrocopter to fly various trajectories autonomously. Artificial landmarks are used for pose estimation, and a fuzzy controller is utilized to generate steering commands. The presented system can navigate a low-cost quadrocopter along a predefined path without the need for any additional external sensors. In addition to a full description of our system, we also introduce our software package for Robot Operating System, which allows the robotics community to experiment with proposed mapping algorithm.

Integrated mechatronic systems laboratory

The authors present teaching philosophy, variety of teaching methods supported by eLearning and Internet, appropriate laboratory equipment, and experiments, that have been applied at teaching industrial mechatronic systems employed by the authors in the course on mechatronic systems at the Technical University of Kosice with the goal to facilitate students understanding the matter to be taught and getting skills with the equipment and installations that are used in industrial environment.

Dynamic emulation of mechanical loads — Analysis and implementation into industrial drive

The paper presents an approach to the dynamic emulation of mechanical loads. The main goal was to implement known control algorithm to the industrial converter SINAMICS S120 with the control unit CU320 using Drive Control Chart programming tool. The reference torque of a load machine is calculated through the closed-loop control algorithm using PI estimator. Proposed implementation enables the user the emulation of various mechanical loads with the industrial drive dynamometer, although only variation of the inertia and the viscous friction is reported here.

Implementation of Robot Control Algorithms by Real-Time Control System

The paper deals with development and implementation of the direct and inverse kinematics to control of 6 DOF industrial robot SEF-ROBOTER SR25 by a real time control system. To obtain the angular position of each joint an iterative algorithm is applied that is developed in the Simulink program. This solution creates a basis for real time control of the robot drives utilizing features of SIEMENS SINAMICS family of frequency converters. The developed control system presents a universal platform enabling to debug any robot control algorithm and also easy to change a desired trajectory of the end effector. The equipment is suitable for testing different trajectories of the robot and is suitable also for educational purposes.

Design and analysis of torque control for load drive with dynamic emulation

This paper analyses a torque control structure for load machine used as a dynamometer. Typical area of the use is a mimicking of a mechanical load behaviour in case the mechanical load is not available. Instead of that, the mechanical load is emulated by the load machine with specific torque control. This approach belongs to dynamic emulation of mechanical load methods. Reference torque calculation with particular components for compensation of mechanical dynamics and disturbance torque in the test bench is presented.

Design of load torque and mechanical speed estimator of PMSM with unscented Kalman filter — An engineering guide

This paper presents the design of Unscented Kalman Filter (UKF) for estimation of state space variables of permanent magnet synchronous machine (PMSM). The UKF is shown together with the field oriented speed control. At first, the position and the speed of PMSM are measured, and UKF is used only for a load torque estimation. It is indicated how differences in sampling time of the speed and the current loop affects overall estimation performance. Subsequently, speed sensorless performance of the UKF with the same parameters is shown for comparison. Designed filter is verified only by Matlab simulation.

Motor control of skid steered robotic vehicle

This paper deals with control system of skid steered robotic vehicle. Skid steering offers very simple way to achieve good traction on rough terrain. On the other hand it is difficult to precisely control the speed and the position of the vehicle. The presented solution uses modern approaches to control drives of the robotic vehicle such as visual odometry with stereo camera in combination with precise fiber-optic gyroscope. Designed control system is compatible with actually most popular robotic framework named Robotic Operation System (ROS).

Point Cloud Based Bin Picking: Object Recognition and Pose Estimation Using Region Growing Segmentation Algorithm

Presented paper describes experimental bin picking using Kinect sensor, region-growing algorithm, latest ROS-Industrial drivers and dual arm manipulator Motoman SDA10f.As well known if manipulation with objects of regular shapes by suction cup is required, it is sufficient to estimate only 5DoF for successful pick. In such a case simpler region growing algorithm may be used instead of complicated 3D object recognition and pose estimation techniques, resulting in shorter processing time and decrease of computational load. Experimental setup for such a scenario, manipulated objects and results using region growing segmentation algorithm are explained in detail. Video and link to open-source code of described application are provided as well.