Peter Drahoš

Slovak University of Technology, UAMT, Faculty Member

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Address: Bratislava, Bratislavsky kraj, Slovak Republic

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Papers by Peter Drahoš

Experimental evaluation of a DO-FPID controller with different filtering properties

IFAC Proceedings Volumes, 2014

The paper brings experimental results and evaluation to modular disturbance observer based filter... more The paper brings experimental results and evaluation to modular disturbance observer based filtered PD and PID controller design based on theoretical results of papers Huba (2013b,c). The approach is focused on achieving the possibly best filtering properties by keeping nearly constant dynamics of the setpoint responses. The developed controller applied to a positional DC motor control is evaluated for different values of the tuning parameter T D and different filter orders n by using time and shape related performance measures.

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Advanced Information System for Safety-Critical Processes

Comput. Informatics, 2014

The paper deals with the design and implementation of an intelligent modular information system (... more The paper deals with the design and implementation of an intelligent modular information system (IMIS) for modeling and predictive decision making supervisory control of some important critical processes in a nuclear power plant (nuclear reactor) using selected soft computing methods. The developed IMIS enables monitoring critical states, safety impact analysis and prediction of dangerous situations. It also recommends the operator possibilities how to proceed to ensure safety of operations and humans and environment. The proposed complex IMIS has been tested on real data from a nuclear power plant process primarily used as supervisory information for decision making support and management of critical processes. The core of the proposed IMIS is a general nonlinear neural network mathematical model. For prediction of selected process variables an artificial neural network of multilayer perceptron type (MLP) has been used. The effective Levenberg-Marquardt method was used to train the...

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The tools for verifying the control algorithms for speed and positional servo drives

2018 Cybernetics & Informatics (K&I), 2018

The issues of electric drives are taught on several subjects within bachelor and engineering stud... more The issues of electric drives are taught on several subjects within bachelor and engineering studies at the Institute of Automotive Mechatronics (IAMT) FEI STU. For the purpose of teaching and verifying properties of new servo drives control algorithms for speed and position loops, the control structures on interactive simulation models and on the functional drive sample have been implemented. Four types of speed controllers and seven types of position controllers are implemented for speed and positional servo drives. The paper provides an overview of implemented control structures, the principle of evaluation of the quality of the control, a description of the basic features of the implemented tools and an example of the experimental results.

Limits of a simplified controller design based on integral plus dead time models

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2018

This article presents design and evaluation of filtered proportional–integral controllers and fil... more This article presents design and evaluation of filtered proportional–integral controllers and filtered Smith predictor–inspired constrained dead time compensators. Both are based on the integral plus dead time and on the first-order time delayed plant models. They are compared as for tuning simplicity, robustness and noise attenuation. Such a comparison, which presents a robustness test regarding the importance of the internal plant feedback approximation, may be carried out by performance measures built on deviations of the input and output transient responses from their ideal shapes. When combined with integral of absolute error measures of both solution types with the disturbance responses set as nearly equivalent, we can see that the filtered Smith predictor setpoint responses may be significantly faster than the filtered proportional–integral controller responses, more robust and, using higher-order filters, also sufficiently smooth. Furthermore, tuning of the possibly higher-o...

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Semi-physical model of a vehicle for platooning

2019 22nd International Conference on Process Control (PC19), 2019

The simplified one-wheel vehicle longitudinal model without any significant ripple of the acceler... more The simplified one-wheel vehicle longitudinal model without any significant ripple of the acceleration of the car due to the rippled tractive force, is introduced in this paper. This model is suitable for implementation using a semi-physical vehicle model, which will be implemented by two coupled electric drives. In addition, the paper contains the design of a speed controller. The functionality of the presented vehicle model and the speed control loop has been verified by simulations.

PID and filtered PID control design with application to a positional servo drive

Kybernetika, 2019

Institute of Mathematics of the Czech Academy of Sciences provides access to digitized documents ... more

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A servo-drive with an integral disturbance observer filter. Part 2: Position control

2017 19th International Conference on Electrical Drives and Power Electronics (EDPE), 2017

The paper brings second part of an analysis and synthesis of servo-drives with integral low-pass ... more The paper brings second part of an analysis and synthesis of servo-drives with integral low-pass disturbance observer (DO) filters. The loop established by extending a stabilizing PD-controller by a binomial noise attenuation filter and by a disturbance reconstruction and compensation is devoted to the position control. The dominant loop dynamics represented by an inertial mass is approximated by a second-order integrator. The torque generator dynamics, together with the processing and communication delays are approximated by a dead-time. The solution proposed is compared with a DO based solution using binomial filters both in the disturbance reconstruction and in the stabilizing feedback (DO-FPID) and with a traditional cascaded P-PI structure without additional filters. The output position is considered to be measured by an incremental encoder. Impact of the filter parameters and of the sampling period on the resulting control performance are being explored. The solution using combination of both basic types of low-pass filters shows a significantly improved loop performance.

The Vehicle Model Acceleration Control for Platooning

IFAC-PapersOnLine, 2019

The design and implementation of the vehicle acceleration control loop containing a moment of ine... more The design and implementation of the vehicle acceleration control loop containing a moment of inertia emulator are introduced in this paper. The vehicle is simulated in real-time using a simplified longitudinal one-wheel vehicle model. The model takes into account the road parameters and the effect of air resistance on the vehicles driving performance. The model is designed to reduce the traction force ripple. The acceleration control and the vehicle model are implemented on Simatic Open Controller using MATLAB and SIMATIC Target 1500S. The vehicle drive and the load torque are simulated on the same Open Controller. The properties of the presented implementation are demonstrated by results collected from the Open Controller.

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Applied Natural Sciences 2009 329 THE INDUSTRIAL COMMUNICATION SYSTEMS PROFIBUS AND PROFInet

Abstract: PROFIBUS and PROFInet are open and vendor independent industrial communication systems ... more Abstract: PROFIBUS and PROFInet are open and vendor independent industrial communication systems used in the area of control of the discrete and continuous processes. There are introduced the main PROFIBUS and PROFInet characteristics in the article. The application of these communication systems in the education on the Institute of Control and Industrial Informatics is introduced too. There are also the examples of both, the workplaces and the exercises, in the article. The exercises allow the following: 1. to understand the principles of the work with the smart sensors, 2. to master the communication on the basis of the PROFIdrive communication profile in the motion systems, 3. to handle the PROFIBUS diagnostics, 4. to master the communication configuration in the PROFInet CBA systems.

The PROFIBUS Protocol Observation

IFAC Proceedings Volumes, 2012

ABSTRACT PROFIBUS is a very complex protocol created in 3 layers of the reference communication m... more ABSTRACT PROFIBUS is a very complex protocol created in 3 layers of the reference communication model. The paper shows experimental way to explain the behaviour of devices on bus under normal traffic and diagnostic events. The paper deals with two communication experiments performed on the same devices on the bus. For measurements on PROFIBUS DP physical layer the professional tester was used. It provides an overview of the signal conditions on the bus and detects the signal quality of each device on the bus. A universal tool for PROFIBUS protocol analysis can perform online bus traffic monitoring. It is able to detect and analyse the PROFIBUS frames for education and diagnosis purposes.

Comparing traditional and constrained disturbance-observer based positional control

Measurement and Control

This paper compares three different position controllers of electrical drives equipped by binomia... more This paper compares three different position controllers of electrical drives equipped by binomial [Formula: see text] th order filters, which are offering filtering properties important in a quantization noise attenuation. To demonstrate their impact, a non-filtered P-PI control is considered, as a reference. The comparative framework includes a filtered P-PI control, a filtered linear pole assignment PD controllers with a disturbance observer (DO) based integral action and its constrained modification. In terms of a total variation, depending on noise and process properties, all filtered controllers are capable to bring down the undue controller activity at the plant input from 10 to more than 100 times. Furthermore, thanks to the applied disturbance observer, the constrained control derived for a double integrator is shown to fully exploit the closed loop capabilities without any trajectory generation, taking into account the control constraints. Thus, the simplified controller d...

THE INDUSTRIAL COMMUNICATION SYSTEMS PROFIBUS AND PROFInet

PROFIBUS and PROFInet are open and vendor independent industrial communication systems used in th... more PROFIBUS and PROFInet are open and vendor independent industrial communication systems used in the area of control of the discrete and continuous processes. There are introduced the main PROFIBUS and PROFInet characteristics in the article. The application of these communication systems in the education on the Institute of Control and Industrial Informatics is introduced too. There are also the examples of both, the workplaces and the exercises, in the article. The exercises allow the following: 1. to understand the principles of the work with the smart sensors, 2. to master the communication on the basis of the PROFIdrive communication profile in the motion systems, 3. to handle the PROFIBUS diagnostics, 4. to master the communication configuration in the PROFInet CBA systems.

Multimedia support for education of mechatronics

2018 Cybernetics & Informatics (K&I), 2018

This work is devoted to utilizing of multimedia support for education of mechatronics. There is p... more

PI controller implementation based on FPGA

2018 Cybernetics & Informatics (K&I), 2018

The purpose of this study is to identify DC Motor, 12 V with 1:19 ratio. Mathematical model in Ma... more The purpose of this study is to identify DC Motor, 12 V with 1:19 ratio. Mathematical model in MatLab has been created using datasheet for purpose of control design. We design controller in MatLab and implement it on FPGA. FPGA is digital system therefore an analogue to digital conversion is needed to be done for PI controller as well as adjustment for FPGA output. This is done via PWM.

Low-Cost Education Kit for Teaching Basic Skills for Industry 4.0 Using Deep-Learning in Quality Control Tasks

by Peter Drahoš and Martin Pajpach

Electronics, 2022

The main purposes of this paper are to offer a low-cost solution that can be used in engineering ... more The main purposes of this paper are to offer a low-cost solution that can be used in engineering education and to address the challenges that Industry 4.0 brings with it. In recent years, there has been a great shortage of engineering experts, and therefore it is necessary to educate the next generation of experts, but the hardware and software tools needed for education are often expensive and access to them is sometimes difficult, but most importantly, they change and evolve rapidly. Therefore, the use of cheaper hardware and free software helps to create a reliable and suitable environment for the education of engineering experts. Based on the overview of related works dealing with low-cost teaching solutions, we present in this paper our own low-cost Education Kit, for which the price can be as low as approximately EUR 108 per kit, for teaching the basic skills of deep learning in quality-control tasks in inspection lines. The solution is based on Arduino, TensorFlow and Keras, ...

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LNS algorithm for embedded control systems

2018 Cybernetics & Informatics (K&I), 2018

The paper deals with a Logarithmic Numerical System (LNS) and its use for embedded control system... more The paper deals with a Logarithmic Numerical System (LNS) and its use for embedded control systems based on modern system on chip (SoC) circuits. A new approximate function for arithmetic sum in LNS has been developed. The new simple algorithm can reduce the computational delay and size of tables needed for LNS adder.

The Use of Modern Multimedia Trends for Popularization of Mechatronics by Presenting Its Present and Future Application

Communication Papers of the 2019 Federated Conference on Computer Science and Information Systems, 2019

Mechatronics belongs to the modern fields of the science and technology. Modern mechatronics comb... more Mechatronics belongs to the modern fields of the science and technology. Modern mechatronics combines mechanics, electronics, automation and informatics. However, young people often understand mechatronics as a combination of mechanics and electronics. This erroneous paradigm brings many problems in education and industry. Actual trend in the industry is Industry 4.0-also called as fourth industrial revolution. It is a collective name for current automation, exchanging of data and manufacturing technologies. Today's industry (digital factories) is full of information and communication technologies such as Internet of Things, virtual / mixed reality, cloud computing, etc. Unfortunately, only small amount of high school pupils would like to study mechatronics because young generation is influenced by the outdated perception of this field and does not perceive some of its new aspects. They do not see modern technologies in this field. The authors of the paper decided to present mechatronics as a modern branch in an original way-by a fanfilm inspired by Avengers: Infinity War.

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Popularization of Mechatronics by Fan Film Inspired by Avengers: Infinity War

2020 Cybernetics & Informatics (K&I), 2020

Mechatronics belongs to the modern fields of the technology and science. Modern mechatronics comb... more Mechatronics belongs to the modern fields of the technology and science. Modern mechatronics combines mechanics, informatics, electronics and automation. However, younger generation often understand mechatronics as a combination of mechanics and electronics / electrical engineering. This wrong architype brings a lot of problems in education, engineering and industry. New and actual trend in the industry is Industry 4.0 - also termed as 4th industrial revolution. It is a collective name for current automation, exchanging of data (also Big Data) and manufacturing technologies. Nowadays, industry (digital factories) is full of information and communication technologies (ICT) such as Internet of Things, cloud computing, virtual / augmented reality, etc. Unfortunately, only small amount of high school students would like to study mechatronics because young generation is influenced by the obsolete perception of this field and does not perceive some of its new aspects. They do not see rece...

Logarithmic Addition and Subtraction for Embedded Control Systems

2020 Cybernetics & Informatics (K&I), 2020

An original principle of logarithmic number addition and subtraction using RISC (Reduced Instruct... more An original principle of logarithmic number addition and subtraction using RISC (Reduced Instruction Set Computing) and numerical system conversions is presented. New concept and related algorithms for conversion between the floating point number and logarithmic number system (LNS) representations was developed and implemented on FPGA (Field Programmable Gate Arrays).

Trends in industrial communication and OPC UA

2018 Cybernetics & Informatics (K&I), 2018

The paper deals with trends in industrial communication and with the question how to integrate ex... more The paper deals with trends in industrial communication and with the question how to integrate existing communication and information technologies into automation. What new solutions OPC UA offers to today's modern industry? And how to capture the complex issue of Industry 4.0 in education? Answers to these questions are very important today.

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