Mar 28, 2020   8:03 p.m. Soňa
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Ing. Jozef Dúbravský, PhD.
Identification number: 4934
University e-mail: jozef.dubravsky [at] stuba.sk
 
Pracovník BOZ a PO - Department of Work Safety, Fire Protection and Civil Defence (D-E DO FIIT)
Odborný asistent CSc.,PhD. - Institute of Robotics and Cybernetics (FEEIT)

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Basic information

Basic information about a final thesis

Type of thesis: Dissertation thesis
Thesis title:Contribution to the methods and algorithms of control of DC servo-drives
Written by (author): Ing. Jozef Dúbravský, PhD.
Department: Institute of Robotics and Cybernetics (FEEIT)
Thesis supervisor: prof. Ing. Milan Žalman, PhD.
Opponent 1:doc. Ing. Tibor Krajčovič, PhD.
Opponent 2:prof. Ing. Branislav Dobrucký, PhD.
Final thesis progress:Final thesis was successfully defended.


Additional information

Additional information about the final thesis follows. Click on the language link to display the information in the desired language.

Language of final thesis:Slovak

Slovak        English

Title of the thesis:Contribution to the methods and algorithms of control of DC servo-drives
Summary:One of the main objectives of the thesis is the design, modification and application of both conventional as well as modern structures and methods of automation control for servo-drives. Based on the analysis of existing methods of automatic control is proposed their generalization, modifications and suitability for speed servo-drives control. Author applied, extended and tested the conventional methods of automatic control based on analytical and experimental mathematical models of servo-drives. From the spectrum of the modern automatic control methods he used and modified mainly inverse dynamics methods and methods based on the location of the closed loop poles. Author created modelling, simulation and test workplace with a real physical model to verify the structures and methods of automatic control. Based on graphical, numerical and simulation results he showed that the feedforward Master Slave control structure is an optimal and appropriate speed servo drive control structure guaranteeing high quality, stability and robustness. To compensate for impact of disturbance, i.e. load torque, author successfully designed and verified Luenberger observer. Generalization of the results and their applicability to speed servo-drives control was made on the basis of supporting software system ServoSim, which represents one of the key contributions of the author to the development and exploitation of automatic control methods and is used in educational and research areas at the Institute of Control and Industrial Informatics in bachelor and master studies.
Key words:Automatic control methods, Servosystems, Naslin method

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