Sökning: "pole placement"

Visar resultat 1 - 5 av 21 uppsatser innehållade orden pole placement.

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

    Master-uppsats, KTH/Skolan för industriell teknik och management (ITM)

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

    Sammanfattning : 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. LÄS MER

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

    Master-uppsats, KTH/Maskinkonstruktion (Inst.)

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

    Sammanfattning : 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. LÄS MER

  4. 3. Continuum Actuator Based Soft Quadruped Robot

    Master-uppsats, KTH/Mekatronik

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

    Sammanfattning : 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. LÄS MER

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

    Master-uppsats, KTH/Fordonsdynamik

    Författare :Saro Batmanian; Pasam Naga; [2019]
    Nyckelord :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.;

    Sammanfattning : 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. LÄS MER

  7. 5. Independent Project Thesis in Electrical Engineering : Design and implementation of digital filters

    Kandidat-uppsats,

    Författare :Linus Ryttermalm; Gustav Vallinder; [2019]
    Nyckelord :digital filters;

    Sammanfattning : This thesis describes and discusses design and implementation of digital filters inembedded systems. Digital filters provide great flexibility where an interchangeablefilter is needed and real valued components are limited. Common sampling problemssuch as aliasing and reconstruction are discussed and solved using analog filters. LÄS MER