Ing. Jiří Zděnek, CSc.

Railway traction vehicles transfer forces between wheels and rails through an adhesion coefficient. The adhesion coefficient value can decrease abruptly during the train run. Therefore, the wheels can simply gain high value of the wheels slip velocity. Thus, the vehicles are equipped with slip controllers for this case. During the past decades, many types of slip control strategies were developed, and the new methods are also developed today. Some perspective methods are based on an estimation of the adhesion coefficient or an adhesion force. However, correct operation of these methods is not guaranteed in all cases. Moreover, these methods have some weakness that can decrease their efficiency. Therefore, a novel method based on the adhesion condition estimation is presented in the paper. The adhesion condition is estimated by an unscented Kalman filter. When the method is connected to a controller, it is possible to eliminate the rising wheel slip velocity at its beginning and limit it to the appropriate value. The output of the method is directly used as an input of the controller without any additional calculation as it is used in traditional methods. The input signal does not need any additional filtration, and the method does not require information about the actual train velocity for its proper work. The verification of the method is done with the measured data that were measured on a freight train hauled by an electric locomotive. The paper also presents simulation results of the method with a controller based on the locomotive mathematical model.

Locomotives are equipped with slip controllers to limit a value of a wheel slip velocity and conducive to reach required locomotive tractive effort. The slip control methods are developed for tenths years, and the methods are based on several principles. Progressive methods determine an adhesion-slip characteristic slope. This method requires knowledge of an adhesion coefficient value or an adhesion force value. These quantities cannot be measured directly during the train run. Therefore, these quantities are estimated by some estimation techniques. A Kalman filter or its nonlinear variants as an extended Kalman filter or an unscented Kalman filter can be used as estimators of the quantities. Every filter has different features, and the estimated output is different. The filters performance during adhesion estimation for a locomotive slip control is presented in the paper. The comparison of the filters is made for various filters setting. The comparison is based on measured data as offline simulation in Matlab software.

A locomotive needs a slip controller to achieve the maximal tractive effort. Many types of methods are used for this purpose. Some methods use a Kalman filter or other type of estimation. These methods can work precisely and reliably. The Kalman filter provides a filtration of an output signal to eliminate the output signals noise when the Kalman filter inputs are noisy, and a filtration level is required. There is a relation between the Kalman filter filtration level and its delay. The Kalman filter delay can reach over 100 milliseconds. The locomotive slip controller has to react in the order of tens of milliseconds to provide an appropriate function. The high level of filtration and low delay are contradictory demands. The key is to find a relation between the Kalman filter delay and filtration through its covariance matrixes. In the paper is investigated the relation between the filtration level and the time delay. The simulations are made in the Matlab software and based on measured data.

Locomotives reach a high value of tractive effort. The high values of tractive effort can cause problems if an adhesion conditions are poor. A wheel velocity high value that is much greater than the train velocity can occur in this case. The high slip velocity value has to be eliminated because it causes a high wear of wheels and rails and can cause damage to some locomotive mechanical parts. The slip velocity can be decreased by significant reduction of the tractive effort. The result of the tractive effort reduction is the train velocity decreasing and mechanical stress. Slip controllers are used to avoiding this situation. There are many types of slip controllers that were developed in the past. New slip controllers are still developed and improved today. In the paper is presented slip control method that is based on an extended Kalman filter that can rapidly and reliably detect decreasing of the adhesion. The method performance is demonstrated on simulations that are based on measured data.

The train velocity is needed to be known for many purposes like the train safety systems or a slip control. The train velocity is typically determined from wheelsets velocity. The wheelset velocity is different with the train velocity due to a slip velocity that is needed for a force transmission between wheels and rails. The train velocity measured by this way is the only estimation of the train velocity. If the train velocity is needed for a slip control, the actual velocity has to be known with the smallest possible delay. For the purpose, a novel method based on the unscented Kalman filter is presented. Nonlinearity between the wheel velocity and the train velocity is analytically derived. The simulation results are based on the measured data.

The train velocity is difficult to determine when the velocity is measured only on the driven or braked locomotive wheelsets. In this case, the calculated train velocity is different from the actual train velocity due to slip velocity or skid velocity respectively. The train velocity is needed for a locomotive controller proper work. For this purpose an adaptive filter that is tuned by a fuzzy logic is designed and described in the paper. The filter calculates the train longitudinal velocity based on locomotive wheelset velocity. The fuzzy logic is used for the tuning of the filter according to actual wheelset acceleration and wheelset jerk. The simulation results are based on real measured data on a freight train. The results show that the calculated velocity corresponds to the actual train velocity.

The slip control is important for an adhesion force transmission between locomotive wheels and rails. The slip control consists of two tasks. The first task is the slip value detection and the second one is the evaluation of a slip value with a subsequent control action. These two tasks can be realized by many types of methods. Several detection methods use an adhesion coefficient or the adhesion force determination. Because of difficulty of the adhesion coefficient measurement during the train run the adhesion coefficient or the adhesion force has to be estimated. In this paper, the adhesion force is estimated by the Kalman filter. The Kalman filter uses the locomotive model and measured locomotive velocity. The Kalman filter is implemented in Matlab and also applied on measured data.

A train longitudinal velocity is needed for some control devices. The train velocity is typically determined from a locomotive wheelsets velocity. This solution can cause problems when the wheelsets are driven or braked. In these cases, the wheelset velocity is higher or lower than the train longitudinal velocity due to a slip or skid velocity. The problem is typically solved by some type of averaging or filtration of all available wheelsets velocities. These algorithms need to know all wheelsets velocities at the same time. This task can be difficult to fulfil in some types of distributed computer systems due to communication delays between computers. The problem is solved by using an extended Kalman filter that estimates the train velocity from one wheelset velocity in the paper. The filter and its properties are described and designed in the paper. The measured data are used for the filter function check.

Wheel speed of heavy freight train locomotive under non-ideal traction conditions was measured with very high resolution and fine precision. Many authors published papers in this area over past century, but only recent advance in the information technology enabled measurement in such extent and resolution at the same time. Most modern locomotives have the speed sensor coupled with the traction motor. Unlike many other authors doing research in the area of wheel-slip, in the presented case the wheel speed was measured directly on the wheel, not indirectly on the traction motor. This approach made it possible to observe the wheel speed directly, without the requirement to implement motor – wheel model, which can introduce inaccuracies. Thanks to an independent method of train speed determination using a sensitive GPS receiver, wheel slip speeds were identified accurately regardless of synchronous slip phenomenon. Despite the adhesion theory, three types of operation mode were identified: the stable traction with negligible slip without oscillations, the semi-stable traction with evident slip and oscillations, and the prominent wheel slip. As the wheel speed was measured directly on the wheel, much larger oscillations than ever published were revealed. The source of the oscillations is discussed in the paper. A simple MatLab model of rotational masses was constructed and tuned to match the measurements. Eigen values and eigenvectors of the model are discussed, too. The model of rotational masses is completed with adhesion model to perform simulation. The simulation results are presented and compared with the results of measurement.

Important task of railway traction vehicles is to achieve maximal traction effort at any conditions if required. For this purpose the vehicles have slip controllers. Some types of this controllers need the vehicle longitudinal velocity value as an input. The vehicle longitudinal velocity is difficult to measure directly because the vehicle longitudinal velocity could not be directly determined from wheel velocity. When the wheel is driven its velocity is higher than the vehicle longitudinal velocity because of the slip phenomenon. The paper describes method that provides possibility to estimate the vehicle velocity on base of measured wheel velocity. Estimation of the vehicle longitudinal velocity is enabled by Kalman filtration. The method is verified by MatLab simulation using real measured data.

Prezentace Katedry elektrických pohonů a trakce v populárně vědeckém časopise

For a locomotive wheel slip velocity detection and slip control are typically used measurement sensors that are mounted on the locomotive. The sensors are typically intended for another purpose e.g. wheel speed measurement or tractive effort determination. When the slip control is based on indirect methods that needed to measure some specific locomotive behavior that occurs during high slip velocity it is difficult to use the locomotive measurement sensors. The paper presents an additional experimental measurement device that is mounted on locomotive wheelset to measure the wheelset dynamic motions that typically occur when the wheel has large value of slip velocity. The measurement device is equipped with accelerometers. Measured data are filtered to get signal that can be used for locomotive wheel slip velocity detection and control.

Modern locomotives are more powerful and reaches higher speeds. With these parameters increasing it is connected a problem with transmission of tractive effort between vehicle wheels and rails. The maximal value of transmitted force depends on value of the wheel slip velocity and its type of control. In the paper is briefly described problem of the force transmission and some used control methods are described. The simulation in Matlab/Simulink of one method is described too.

Řídící počítač je základním funkčním blokem moderních elekrických pohonů. Řídicí počítač do značné míry určuje uživatelské vlastnosti celého řetězce počítač-polovodíčový měnič-elektrický stroj. V článku se uvádějí základní přincipy řídicího počítače pohonů a popisují specilální části hardware, které usnadňují realizaci počítačového řízení elektrického pohonu.

Nowadays, one common way to build the photovoltaic power plant is by connecting photovoltaic panels in series or parallel to form a string. The string is connected to main grid with an inverter. This conception is appropriate for a case when every panel is irradiated with homogeneous solar radiation. If some photovoltaic panels are shadowed or partially shadowed the string output power is dropped. The similar problem can occur if some photovoltaic panels are oriented in different directions in the case the photovoltaic panels are radiated with different solar radiation. The result is similar to a partial shadowing. The problem can be solved by eliminating the non optional conditions. This is possible for application located in open area. The solution can be difficult to implement in urban areas. Photovoltaic panel may be overshadowed by a cloud cover, trees, chimneys, lightning conductors or other parts of buildings in urban areas. The different orientation cans occur if an installation needs to be split in several cardinals or architectural requests. In this case for maximizing power harvest have to be used an inverter with an advance algorithm for searching a Maximum Power Point or to every photovoltaic panel connects to a DC-DC converter that find a photovoltaic panel Maximum Power Point. The converters are called a microconverters or module integrated converters. The paper describes the microconverter that allows increase photovoltaic panel power harvest when the string photovoltaic panels are partially shadowed.

The paper presents a control and a power supply of a low power stand-alone photovoltaic system converter. In a stand-alone photovoltaic system load is generally supplied from a photovoltaic panel through a DC-DC converter. In simple photovoltaic system without a battery converter controller and other circuits are supplied from the photovoltaic panel. The systems are appropriate for low power application where continual power supply is not required. The systems have problem in low solar radiation because photovoltaic panel is not able to produce enough energy for running a converter. The proposed converter power supply switching on and regulation behaviour at low solar radiation level are described in the paper. The Matlab/Simulink was used for establishing a photovoltaic panel model and DC-DC converter model before the converter implementation. The converter is a boost type converter with a full-bridge. The modelled and experimental results are presented.

The paper focuses on design and simulation of the low power inverter for photovoltaic application. In the paper it is briefly discussed the DC/DC converter design for the tracking MPP of the solar array and then the design of the control algorithm for the output inverter is discussed. Both possible operation modes - work in “island mode” and operation in the supply grid are considered and a control algorithms for them were developed and simulated. Attention is also paid to the design of the output filter for the converter

The structured system and software design method of the distributed control computer network of the mechatronic scientific facility for automatic high temperature material processing in the space in microgravitation environment is presented in the paper. The facility distributed computer controls special extra low speed vibrationless electric drives, multi-zone high temperature furnace heating system and several measurement devices. The computer is equipped with special technological language to be possible to specify experiment time flow. Computer network nodes have many user processes (threads) so efficient, reliable, self documented, and low overhead scheduler dispatcher is required. The table driven coroutines have been designed.

Start up regulation of realized DC-DC converter for photovoltaic panel are presented in this paper. The Converter has no continuous power from main supply or continuous battery power supply, the converter is only supplied by photovoltaic panel. The regulation using three-point weight comparison method find to Maximum Power Point (MPP) is presented too.

System overview and design principles of power electronics design with soft processor, implemented in a Field Programmable Gate Array (FPGA), are presented in this paper. Typical power electronics system consists of a Digital Signal Processor (DSP) and a FPGA attached to this processor. In the presented system the entire control is achieved using only one complex digital part. The entire system is working on a single chip, eliminating separate standalone DSP (System on Chip or SoC). The FPGA contains all necessary digital circuits including dual processor core implemented inside FPGA structure. Using soft processors inside FPGA is a highly progressive method which helps to increase system reliability and decrease the system cost. The results from experimental implementation are presented

The paper focuses on design and simulation of the low power inverter for photovoltaic application. In the paper is briefly discussed design of the DC/DC converter for the tracking MPP of the solar array and then is discussed the design of the control algorithm for the output inverter. Both possible operation modes - work in "island mode" and operation on the supply grid are considered and control algorithms for them were developed and simulated. Attention is also paid to the design of the output filter for the converter.

The structured system and software design method of the distributed control computer network of the mechatronic scientific facility for automatic high temperature material processing in the space in micro-gravitation environment is presented in the paper. The facility distributed computer controls special extra low speed vibrationless electric drives, multi-zone high temperature furnace heating system and several measurement devices. The computer is equipped with special language to be possible specify experiment time flow. Computer network nodes have many users processes (threads) so efficient, reliable, self documented, and low overhead scheduler-dispatcher is required. The table driven coroutines are designed.

Instantaneous speed measuring algorithm for incremental rotary encoder (IRC) is presented in this paper. Overview of implementation of the algorithm in a Field Programmable Gate Array (FPGA) is presented. The proposed method was used to achieve advanced motor control using single FPGA without standalone Digital Signal Processor (DSP) using an internal soft processor. Using soft processors inside FPGA is a highly progressive method which helps to increase system reliability and decrease the system cost. The results from experimental implementation are presented.

The architecture of the backbone communication channel of the electric locomotive distributed control computer is presented. Without need to connect third party devices into the vehicle internal local kernel of distributed control computer simple but reliable and high speed communication NBP protocol can be efficiently used. Communication services are embedded into the real time operating system. The operating system is highly scalable so that communication services can be used outside the RTOS. Minimized but user friendly API's are designed. Internally up/down dual communication cycle is used. It is based on DMA transfer from/to user communication message queues with two levels of transfer priorities. No communication processor is used. All network activities are processed by application (host) processor only. The host processor overhead by network communication is minimized to several percent

System design principles, hardware architecture and software requirements on the distributed network control computer (DNCC) of a traction vehicle are presented with special emphasis on the correct and optimal partitioning of the control computer system and application functions into the DNCC network nodes. Digital signal controller (DSC) is presented as basic and key element of power electronic control node. Two possible node system structures are considered; at first - a solution based on general purpose DSC where special required power electronic hardware resources are complemented outside DSC using software configurable FPGA and other devices; at second - highly integrated, top throughput DSC equipped with floating point unit and dedicated peripherals to be computation intensive and very precise timing control required by variable speed AC drives more easily implemented. Trends in traction vehicle DNCC are depicted as well as the DNCC structure of the electric locomotiv

The principles and methodology of system and software architecture design of the distributed network control computer (DNCC) of a mechatronic facility are presented. The system design is based on such criteria as functionality, reliability and maintainability. To reach these properties special emphasis is placed on correct and optimal system functions partition among distributed computer nodes to be minimized the overall communication overhead and on minimizing the hardware parts of the system by moving maximum of facility user and system functions into the software. As examples of such design task the DNCC structure of two implemented mechatronic systems are introduced. These are the scientific high temperature material processing equipment for research in space orbital station and the electric locomotive

A high temperature scientific facility (crystallizer) is utilized to process samples of selected materials by melting in precisely controlled temperature field in the micro-gravitation environment in the Earth orbit.. The space crystallizer is computerized apparatus consisting of several power electronic units, namely the experiment central controller, high temperature furnace with precise temperature control, super low speed electric drives, gravitation measurement units and several other parts. Software architecture of mechatronic facility mentioned above is presented in the paper. Hybrid real-time system presented here has been designed to be applicable to the real-time systems with many user tasks organized to complex and large parallel (semi-parallel) finite state automata (FSA) in multi-node distributed computer systems with asynchronously running communication channels. Inner software architecture of each node (module) is of mixed-model (hybrid) type.

The system and software architecture design principles and design methodology of the power electronic facility distributed control computer are presented. The system design is based on such criteria as functionality, effectivity, reliability and maintainability. To achive these qualities special emphasis is given on the correct and the optimal system functions partition among distributed computer nodes to be minimized the overall communication overhead and on minimizing the hardware extent of the system by moving maximum of facility functions into the software.

The system design principles and hardware and software architecture of the distributed network control computer (DNCC) of a traction vehicle are presented. The system design is based on such criteria as functionality, reliability and maintainability. The number of computer network node types is minimized. Network node scans its physical position inside the network and automatically reconfigures itself to the required function. To get these properties special emphasis is placed on correct and optimal system function partition among distributed computer nodes to minimize the overall communication overhead and to minimize the hardware parts of the system and to move maximum of functions into the software. As an example of such design task the DNCC of an electric locomotive is presented. The DNCC is organized as a local computer network with master-slave node access method with the dual serial bus.

The system software architecture of the distributed control computer (computer network) of the mechatronic scientific facility (crystallizer) for automatic high temperature material processing in a orbital space station in micro-gravitation environment is presented in this paper. The scientific facility consists of the multi-zone high temperature furnace with heating system, PWM controlled heating converters, the precise extra low speed vibration-less electric drives to make possible to manipulate the processed material samples during experiments, very precise temperature measurement module, telemetric channel, crew interface computer, free programmable central controller and several further units. Facility computer network nodes have many user tasks (processes) divided into many threads running in real time environment.

The principles of system design and software architecture of the distributed network control computer (DNCC) of a traction vehicle are presented. The system design is based on such criteria as functionality, reliability and maintainability. To reach these properties special emphasis is placed on correct and optimal system functions partition among distributed computer nodes to be minimized the overall communication overhead and on minimizing the hardware parts of the system and moving maximum of functions into the software. As an example of such design task the DNCC of an electric locomotive is introduced. The vehicle DNCC is organized as a local computer network with master-slave node access method with dual serial bus. The network communication services are uniformly used in all nodes to support reliable transfer of the process data. The communication overhead is minimized using exclusively DMA transfer method.

The principles and methodology of system and software architecture design of the distributed network control computer (DNCC) of a mid-range complexity power electronics facility are presented. The system design is based on such criteria as functionality, reliability and maintainability. To reach these properties special emphasis is placed on correct and optimal system functions partition among distributed computer nodes to be minimized the overall communication overhead and on minimizing the hardware parts of the system by moving maximum of facility user and system functions into the software. As an examples of such design task the DNCC structure of two implemented power systems is introduced. These are the scientific high temperature material processing equipment for research in space orbital station and the electric locomotive

Uvádí se principy a metodika návrhu systémového řešení a návrhu programového vybavení distribuovaného síťového řídícího počítače (DSRP) zařízení výkonové elektroniky střední složitosti. Systémový návrh je založen na řadě důležitých návrhových kritérií jako je funkčnost, spolehlivost a udržovatelnost. Při návrhu systému je položen důraz na správné a optimální rozdělení uživatelských i systémových funkcí mezi jednotlivé uzly distribuovaného řídícího počítače zařízení, na minimalizaci komunikace a její režie. Maximum uživatelských i systémových funkcí je realizováno programovým vybavením. Jako příklad návrhu jsou uvedeny dvě verse mechatronického zařízení určeného pro vědecký výzkum nových materiálu zpracovaných při vysokých teplotách na oběžné dráze Země na orbitálních stanicích v prostředí téměř nulové gravitace

The node core system design of the distributed control computer of the mechatronic scientific facility (cristallizer) for automatic temperature material processing in a orbital space station in micro-gravitation environment is presented in the paper. The uniform multiprocessor core is implemented in differrent network computer nodes. Core is equipped with standard well proved system communication software in the form of simple application programmer interface. Core consists of host (application) processor and three cascaded communication processors which implements LonWorks CSMA computer network.

Optimal throughput of the distributed control computer (DCC) of a power system substantially depends on the correct partition of overall system functions into the independent computational nodes and on efficient inter-node communication services. The DCC design solutions based on efficient local computer network utilizing DMA transfer is presented. Computer throughput is maximized by optimal system partition and by minimizing communication overhead on the highest interrupt levels of local CPUs which are important to be available to process control tasks with sufficient computational power. Nodes are designed with no communication coprocessor, network activities are processed by host processor only

Design problems of the distributed control computer of power systems are considered with a special emphasis on system, hardware and software architecture of the local computer network of a traction vehicle. The local computer network based on essential communication support of DMA transfer to unburden application host processor from network overhead is presented. The communication overhead on higher interrupt levels of CPU (which are important to be available to process control tasks) is minimized to several percent of CPU throughput. All network activities are easily processed by the host (application) processor, no additional communication coprocessor is required. Communication APIs are simple and user friendly

Design problems of the distributed control computer of traction vehicle are considered with a special emphasis on system, communication, hardware and software architecture of the local computer network of a traction vehicle. The local computer network based on communication support of DMA transfer to unburden application host processor from network overhead is presented. The communication overhead on higher interrupt levels of CPU is minimized to several percent of CPU throughput. All network activities are easily processed by the application processor, no additional communication coprocessor is required.

The overview of system design and software architecture of the distributed control computer (DCC) of an electric locomotive is presented. The DCC is organized as a local computer network with the master-slave node access method with a dual serial bus. User task activities in nodes are organized by the preemptive Real Time Operating System with dynamic planning or by simple static executive. Network communication services are uniformly used in all nodes to support reliable and user friendly transfer of process data inside DCC. The system design is based on criteria as functionality, reliability, fault tolerance and maintainability

Overview of basic software structure of traction vehicle distributed control computer is presented in the paper including system layers as are preemptive RTOS kernel with scheduler and dispatecher and high speed industrial computer network communication channel.

The architecture of local computer network of traction vehicle (electric locomotive) is considered in this paper. With no need to connect third party devices into internal local kernel of distributed control computer of the vehicle, simplified but reliable and high speed communication protocol with NBP address/data bit feature can be efficiently used. Communication services are embedded into RT operation system. Minimized but user friendly API's are designed. Internally up/down dual communication cycle is used based on DMA transfer from/to user communication message queues with two levels of transfer priorities. No communication processor is used. All network activities are processed by application processor only, its overhead by communication is minimized to several percent.

The paper presents overview of software architecture of distributed control computer (DCC) of electric locomotive. DCC is organized as local computer network with master-slave node access method with dual serial bus. The software is designed as relatively independent modules stacked in layers. Modules are grouped to basic system package (BIOS), network debug and run-time services package (NetBIOS) and finally user (application) software package. In most nodes (hw execution units with CPU and memory) application package consists of real-time operation system (RTOS) with dynamic scheduling capability and preemptive behavior and group of user tasks. In nodes which control locomotive drives instead of RTOS, simple static executive is used which schedules a few tasks only with fixed time axis partitioning. Network communication services (part of RTOS) are uniformly used in all nodes to support reliable and user friendly transfer of process data inside DCC

Architecture of control electronics of mechatronic scientific apparatus for high temperature material processing in space is considered in this paper. Material experiments have been prepared to be carriedout in this equipment in space station in the Earth's orbit. Paper presents hardware and software architecture of networked distributed control computer of equipment with special functional parts. General design requirements are presented and special ones too. In addition to standard quality of such type of equipment as are safety, reliability, user friendly interface and so on, special features are required. These are namely extremely low speed vibrationless drives, precisely controlled high temperature field inside working space of facility furnace and high accurate temperature measurement. Control electronics presented in this paper is part of scientific equipment TITUS, which has been operated several years in orbital station MIR especially during ESA missions EUROMIR

Paper presents overview of software principles used in control computers (embedded computers) of electric drives. Included are principles of task partition, task scheduling, communication and synchronization problems. Several common software architecture principles are depicted, as are interrupt-driven foreground only system, background-foregreound systems, compound background-coroutines-foreground architecture and real-time preemptive kernel with fixed or variable priority and fixed or dynamic task scheduling.

S podporou grantu ME-CR proběhla modernizace laboratoře elektrických pohonů. Dvě výuková stanoviště byla nově vybavena výkonovými měniči (Control Techniques) a průmyslovou počítačovou sítí s technologií LonWork. Pracoviště mohou být ovládána buď manuálně z ovládacího pultu nebo z interaktivního technologického snímku z připojeného PC přes počítačovou síť

Pro základní výuku programování a algoritmizyci se na ČVUT FEL od roku 2004 používá programovací jazyk Java. Požadavky na znalosti studentů elektrických pohonů z hlediska programování jsou porovnány s vlastnostnostmi Javy a "C". Java je zhodnocena jako vhodný nástroj pro výuku programování i v událostmi řízenými programy, typickými právě pro aplikace řídicích počítačů v elektrických pohonech.

Příspěvek presentuje požadavky a orchitekturu programového vybavení distribuovaného řídicího počítače zařízení TITUS MPP. Zařízení je krystalizátor vyvinutý pro materiálové experimenty na palubě vesmírné stanice ISS.

Řízení pohonů vědeckých zařízení při vysokých teplotách pro práci na vesmírných stanicích

Řízení pohonů vědeckých zařízení pro vysoké teploty při práci ve vesmírných stanicích

Řízení experimentálního vědeckého zařízení v kosmu

Řízení experimentálního vědeckého zařízení v kosmu

Řízení experimentálního vědeckého zařízení v kosmu

Příspěvek pojednává o hardwaru a speciálním softwaru, jeho architektuře určené k řízení krokových motorů pro orbitální stanice

TITUS MPP je vědecké experimentální technologické vybavení k využití pro experimenty při vysoké teplotě v prostředí mikrogravitace.

Při automatizovaném řízení provozu budov se používají distribuované sítě. Příspěvek pojednává o některých z nich.

Kvalita průmyslových materiálů vytvářených tavením závisí na gravitaci. Na orbitálních stanicích se provádějí vědecké experimenty při vesmírných podmínkách. Uspořádání a charakteristické vlastnosti speciálních zařízení s bezvibračními pohony a jejich řídicí počítač jsou popisovány v tomto příspěvku.

Popis konstrukce technologického zařízení pro vysokoteplotní materiálový výzkum, určený k použití na orbitální stanici ISS. Zařízení obsahuje speciální pomaloběžný pohon s tlumícím zařízením otřesů.

Distribuované řízení trakčních vozidel

Distribuované řízení trakčních vozidlel