Pavol Fedor

Energy Optimization of a Dynamic System Controller

The paper deals with the application of fuzzy logic in the method of designing the parameters of a continuous dynamic system controller that is energetically optimal and at the same time meets the desired dynamic control parameters. The suitable controller parameters are established on the basis of a fuzzy model of the system, generated through its identification from the measured inputs and outputs. The proposed method has been verified by simulations on an example of parameter design for a PI controller of a DC drive with non-linear load. In comparison with a standardly designed PI controller with constant parameters for the whole operational space of the DC drive it is possible to save approximately 24.39 % of electric power at each dynamic motion of the drive.

Optimal Input Vector Based Fuzzy Controller Rules Design

The paper deals with the method of design of a fuzzy controller the rules of which are based on generating the optimal input vector using a genetic algorithm. The method is first demonstrated on a simple linear system and is then applied to the start-up of a drive with a three-phase asynchronous motor with constant torque, representing a strongly nonlinear fifth order dynamic system. The proposed controller is verified through simulation using the MATLAB software package. Achieved results present a simple applicability of this proposed procedure for a wide class of nonlinear dynamic black-box systems.

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.

Design of Fuzzy Controller for Hexacopter Position Control

The paper deals with the design of a fuzzy controller for controlling the position of a hexacopter represented by a simulation model in Gazebo robot simulation environment, which in terms of control presents a highly nonlinear system with 6 degrees of freedom. The fuzzy controller design was based on the pilot´s experience and on analysis of experimental data collected during a controlled hexacopter flight, without the knowledge of its structure and parameters. The fuzzy controller properties were verified by real time experimental measurements, with sampling time 10 milliseconds. The obtained results have confirmed good dynamic properties of the PI fuzzy controller, which can in future be also applied in a real physical hexacopter model.

Fuzzy Model for Middle Section of Continuous Line

The paper presents a methodology for designing a fuzzy model for the middle section of a continuous processing line for tension processing of various materials (sheet metal, tubes, foil, etc.), which is only described by input/output relations. The measured input/output data of the continuous line are the basis for creating its fuzzy model, which can be further applied in the design of a suitable controller and the verification of its properties by simulation. The first part of the paper describes the procedure of the fuzzy model construction; the second part presents the application of the model in the system of the middle section of a continuous processing line. The fuzzy model structure is based on the state space representation of the dynamic system in discrete form. The properties of the fuzzy model were verified by numerical simulation in Matlab. The obtained results have confirmed the rightness of the design method and its applicability to dynamic systems with multiple inputs and outputs.

Universal HIL Test Platform for Mechatronic Systems

This paper focuses on developing a universal Hardware-in-the-Loop simulation workplace which is used in education and research in the field of mechatronic systems modelling and control. The workplace concept is based on generally available and employed hardware (Programmable Logic Controller) and software means (MATLAB), configured to enable work on practically any type of both continuous and discrete system. The technological equipment of the workplace can be further expanded for work on larger MIMO systems found in real technological practice. The workplace is mainly being used for solving tasks related to electric drives, mechatronics, robotics and technological plant control. A case study involving a DC motor drive control is included in the paper.

Multi-motor drive optimal control using a fuzzy model based approach

Multi-motor drives, the typical examples of which are continuous lines for tension processing of various materials, are complex and coupled MIMO nonlinear systems, the parameters of which are difficult to identify. This paper presents the design of optimal control of a continuous production line using a fuzzy model based approach with emphasis on minimal knowledge on the controlled technology. In the first part of the paper we describe the method of the black-box fuzzy model design based only on the system’s measured input/output data without the necessity of preliminary knowledge of its internal structure and parameters. This fuzzy model is in the second part used in the design of optimal parameters of a PI controller of continuous line on basis of the chosen quadratic optimality criterion. The realized experimental measurements on a continuous line physical laboratory model confirmed the effectiveness and the good dynamic properties of the proposed optimal controller and also its applicability to MIMO nonlinear dynamic systems with as little previous knowledge as possible. In order to demonstrate its effectiveness, the performance of the designed controller is compared with that of a conventional controller and a classic fuzzy controller designed on the basis of linguistic rules.

Automated Headstone Photo Engraving

Nowadays, machine engraving of photos into solid materials such as marble or granite is becoming very popular. Relatively cheap CNC machines are available. The problem is that high quality photos are essential to obtain good results. The first part of the paper describes a model of a CNC machine used for engraving and puts down the principles of image processing applied to poor quality photos in order to get the best results, as well as the fundamental image processing methods necessary for achieving satisfactory results when using an electromagnetic diamond percussion tool for engraving. The second part of the paper describes a very simple method of data coding and the algorithm of engraving tool movement for image engraving process by means of a control system based on ATmega16 microcontroller. The quality of the engraved images is comparable, or even better, than that of manually engraved images or images engraved by other competitive CNC machines.

Analysis of the Effect of Clustering on an Asynchronous Motor Fuzzy Model

The paper deals with the analysis of the effect of fuzzy clustering parameters on the setup of a good quality fuzzy model of a complex nonlinear system, such as, for example, an asynchronous motor. On basis of data measured from an analytical model of an asynchronous motor we developed its fuzzy model and then verified the quality of the courses of its individual state quantities in response to the selected input signal. The proposed procedure was applied in the development of a high quality dynamic fuzzy model of an asynchronous motor. Its properties were verified by simulation in the MATLAB programme package.

A Prototype of a Bitmap CNC Engraver

The proposed paper deals with two main ideas. The first is focused on design and realization of CNC engraving machine prototype where are described the principles of its mechanical construction focused on measurements of an electromagnetic diamond percussion tool prototype used for stone engraving describing its basic features and potential applications. The paper includes also chapters about electrical connections design and software/firmware implementation. The second part presents design and implementation of new algorithm for searching the shortest path connecting all bitmap pixels that need to be engraved with respect to specific constraints given by hardware of bitmap CNC engraver. New algorithm considered as a heuristic approximation of Hamiltonian shortest path was implemented and tested on a real prototype of a bitmap CNC engraver. Results of experiments are listed. Concerning a set of 17 real-life bitmaps, the new algorithm saves from 7% up to 17% of overall engraving time compared to original line-by-line tool path.