Implementacija lastnega zaprto-zančnega vodenja elektromehanske osi s krmilnikom Beckhoff

magistrsko delo

Gašper Štolfa (Author), Riko Šafarič (Mentor), Vito Tič (Mentor), Darko Lovrec (Co-mentor)

Abstract

V magistrski nalogi je predstavljeno vodenje linearne elektromehanske osi z uporabo lastno razvitega položajnega regulatorja. Servomotor na linearni osi je krmiljen z Beckhoff krmilnikom, za katerega program smo zasnovali v programskem vmesniku TwinCAT 3. Primarni cilj magistrske naloge je bil zamenjava položajnega regulatorja, vsebovanega v TwinCAT 3 modulu »NC Axis« z lastnim položajnim regulatorjem, s čimer smo pridobili možnost razvoja in uporabe najrazličnejših tipov položajnih regulatorjev. Slednje smo načrtovali v orodju MATLAB/SIMULINK, iz katerega smo nato generirali kodo za programski vmesnik TwinCAT 3. Generirano kodo smo uvozili v programski vmesnik in jo uporabili v programu za zaprto-zančno vodenje osi. Po zaključeni implementaciji smo preverili pravilnost delovanja kode s primerjavo odzivov med lastnim položajnim regulatorjem in položajnim regulatorjem, vsebovanim v »NC Axis«.

Keywords

krmilnik Beckhoff;elektromehanska os;položajno vodenje;regulatorji;magistrske naloge;

Data

Language:	Slovenian
Year of publishing:	2020
Typology:	2.09 - Master's Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[G. Štolfa]
UDC:	681.516.3(043.2)
COBISS:	39680003
Views:	334
Downloads:	50
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Implementation of individual closed-loop control of an electromechanical axis with Beckhoff controller
Secondary abstract:	In master’s thesis, it is introduced an electromechanical linear axis with usage of our own position controller. A servomotor on linear axis is controlled with Beckhoff controller, for which we have made a program in a program interface TwinCAT 3. Primary goal of master thesis is replacing of a position controller, inside TwinCAT 3 module »NC Axis«, with our own position controller, with which we gain development possibility and usage of other types of position controllers. The latter we have done with a tool MATLAB / SIMULINK, from which we have generated code for interface TwinCat 3. After that, we have imported generated code in the interface and used it for closed loop axis positioning. After final implementation, we have compared the quality of the developed controller responses and the position controller TwinCAT 3 module »NC Axis«.
Secondary keywords:	Beckhoff;TwinCAT 3;position control;position controller;
Type (COBISS):	Master's thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Mehatronika
Pages:	IX, 75 f.
ID:	11925938