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Showing result 1 - 5 of 11 essays matching the above criteria.

1. 1. Evaluation of MPC and PI control on a Tribometer : Design and comparison of control methods for a Pin-on-Disc Tribometer

   University essay from KTH/Skolan för industriell teknik och management (ITM)

   Author : Ehab Ziad Raheem; Tore Malmström; [2023]
   Keywords : Control Theory; MPC; PI; PI-Cascade; Tribometer; Pin-on-Disc; Reglersystem; MPC; PI; PI-Kaskadreglering; Tribometer; Stift-På-Skiva;

   Abstract : This thesis compares Model Predictive Control (MPC) and Proportional-Integral (PI) control in a pin-on-disc tribometer. The tribometer consists of a geared Direct Current (DC) motor driving a flywheel and a voice coil actuating a pin onto the surface of the flywheel. READ MORE

3. 2. Controller Design for a Gearbox Oil ConditioningTestbed Through Data-Driven Modeling

   University essay from KTH/Maskinkonstruktion (Inst.)

   Author : Charles Brinkley IV; Chieh-Ju Wu; [2022]
   Keywords : Gearbox; oil conditioning system; system identification; data-driven modeling; pole placement; PID; Växellåda; oljekonditioneringssystem; systemidentifiering; datadriven modellering; polplacerings; PID;

   Abstract : With the exponential development of more sustainable automotive powertrains, new gearbox technologies must also be created and tested extensively. Scania employs dynamometer testbeds to conduct such tests, but this plethora of new and rapidly developed gearboxes pose many problems for testbed technicians. READ MORE

4. 3. Continuum Actuator Based Soft Quadruped Robot

   University essay from KTH/Mekatronik

   Author : Seshagopalan Thorapalli Muralidharan; Ruihao Zhu; [2020]
   Keywords : Soft robots; continuum actuators; closed loop control; quadruped robots; LQR; Mjuka robotar; continuum st¨alldon; sluten loop styrning; fyrbenta robotar; fyrfotarobotar; LQR;

   Abstract : Quadruped robots can traverse a multitude of terrains with greater ease when compared to wheeled robots. Traditional rigid quadruped robots possess severe limitations as they lack structural compliance. READ MORE

5. 4. Control and balancing of a small vehicle with two wheels for autonomous driving

   University essay from KTH/Fordonsdynamik

   Author : Saro Batmanian; Pasam Naga; [2019]
   Keywords : Inverted pendulum; PID controller; Pole placement method; LQR; Hoverboard; Segways; Prototype; Arduino board; Gyroscope; Accelerometer; BLDC motor controllers; EPOS motor controllers; Embedded systems and control and bluetooth remote.;

   Abstract : Control and balancing of an inverted pendulum has gained a lot of attention over the past few decades due to its unstable properties. This has become a great challenge for control engineers to verify and test the control theory. READ MORE

6. 5. Automated Controller Design for a Missile Using Convex Optimization

   University essay from Luleå tekniska universitet/Rymdteknik

   Author : Christoph Auenmüller; [2016]
   Keywords : control; missile; windup; convex; optimization; lmi; automation;

   Abstract : The focus of the present master thesis is the automation of an existing controllerdesign for a missile using two aerodynamic actuating systems. The motivation isto evaluate more missile concepts in a shorter period of time.The option used is trimming and linearization of a highly nonlinear missile at specic conditions. READ MORE