Sökning: "polplacering"

Visar resultat 1 - 5 av 8 uppsatser innehållade ordet polplacering.

  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. 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

  4. 3. Feeding Robot

    Kandidat-uppsats, KTH/Maskinkonstruktion (Inst.)

    Författare :Filip Mälberg; Linda Truong; [2017]
    Nyckelord :;

    Sammanfattning : This project considers a construction of a robot arm thatfollows a specific pattern to detect food. To thereafterreach a position which illustrates the position of a person’smouth. Due to limited time during this project the robothas no gripper to grab the food. To find food on a specificarea, a distance sensor was required. LÄS MER

  5. 4. StandingCube : The Search for Self-control

    Kandidat-uppsats, KTH/Maskinkonstruktion (Inst.)

    Författare :David Tennander; Victor Gjurovski; [2015]
    Nyckelord :;

    Sammanfattning : Control theory is used in many fields of engineering and with a good understanding on how modelling, simulations and real world products differ more adequate controllers may be developed in the different fields of engineering. The intent of this thesis is to answer the question about how pole placement in a model change the behaviour of a real balancing system. LÄS MER

  7. 5. Pilotmodeller till flygmekanisk simulator för JAS 39 Gripen

    Master-uppsats, Mekanik

    Författare :Per Ajdén; Carl Backlund; [2010]
    Nyckelord :LQ-reglering; flygmekanik; pilotmodeller; JAS 39 Gripen; polplacering; modellidentifiering;

    Sammanfattning : Abstract SAAB has for a long time used user controlled pilot models in ARES. ARES is a simulation tool used in the desktop environment for simulations and calculations of the JAS 39 Gripen fighter and other aircraft. ARES stands for ”Aircraft Rigid body Engineering Simulation”. LÄS MER