doktorska disertacija
Franc Hanžič (Author), Karel Jezernik (Mentor)

Abstract

Delo doktorske disertacije posega na interdisciplinarno področje vodenja mehatronskih objektov, ki združuje najnovejša znanja računalništva, elektrotehnike in strojništva. Zajeto je raziskovanje mehanskega, električnegain programskega sklopa, ki v celoti predstavlja vodenje avtomatskih drsnih vrat. Izrazito področje v tem delu zajema raziskavo in oblikovanje programske kode. Vključeni sta raziskava in razvoj robustnega vodenja avtomatskih drsnih vrat skupaj s tehnološko posodobitvijo krmilnega modula in z načrtovanjem cenovno ugodnega linearnega motorja. Jedro dela obravnava oblikovanje programske kode s končnimi avtomati stanj za zanesljivejše delovanje in učinkovitejše vzdrževanje. Vendar pa omenjena metoda ni primerna za obširne sisteme zaradi velikega števila tranzicij (povezav med stanji) . Taka metoda torej preprečuje, da bi bila programska koda zanesljiva, pregledna in ustrezna za vzdrževanje. Zaradi njene enostavnosti so se raziskali načini, kako jo vključiti v obširne sisteme brez negativnih posledic, kot so prepleti tranzicij, nepreglednosti in nezanesljivosti. Cilj raziskovalnega dela je izdelati modularno programsko kodo z dogodkovnim načinom izvajanja na krmilnem sistemu z mikrokrmilnikom ARMCortex M3. Predstavljeno je asinhronsko procesiranje več modularnih končnihavtomatov stanj s čakalno vrsto FIFO in sistemom s prekinitvenimi rutinami. Proces modularnih končnih avtomatov zajema sposobnost komuniciranja z drugimi napravami prek komunikacije CAN (Controller-Area-Network), upravljanja režimov, vodenja mehatronskega sistema (drsna vrata), generiranja referenčnega giba z S-obliko hitrosti ali mehko logiko, regulacije toka, hitrosti in položaja, upravljanja redundantnosti in varnosti na mehatronskem sistemu. Preučila se je implementacija programske kode po postopku končnih avtomatov stanj v programskem jeziku C. Cilj je doseči razumno in pregledno kodo v kateri bo vidno delovanje algoritma brez pomoči diagramov. Taki principzagotavlja neposredno kontrolo programske kode. V nasprotnem primeru kontrola delovanja algoritma temelji na programski dokumentaciji, ki je odvisna od človeškega faktorja. Dokumentacija in programska koda sta si lahko nasprotni saj se ti pogosteje ne usklajata v enakem času. Do večjih sprememb lahko prihaja pri vzdrževanju programske kode ali pri menjavi kolektiva. Raziskava vključuje izdelavo robustnega vodenja avtomatskih drsnih vrat. Trenutni objekt je zelo odvisen od človeškega faktorja, ki vpliva na kvalitetno vodenje vrat. Z robustnim sistemom pa bi se vodenje prilagajalo samostojno na zmogljivost samega sistema, oziroma bi se ta odvisnost zelo zmanjšala. Vključena je analiza obnašanja generatorja giba z S-obliko hitrostiin generatorja giba mehke logike. Oba načina sta proučena na odzivnosti in obnašanju regulacijskega sistema na objektu avtomatskih drsnih vrat. Proučil se je sistem vodenja, namenjen za spremenljivo breme, ter odzivnost in vplivi sunkov na pogonski mehanizem. Koncepti so potrjeni na prototipnem krmilniku in mehatronskem testnem objektu. Mehatronski sistem (avtomatska drsna vrata) je voden z DC-motorjem prek zobatega jermenskega pogona. Krmilna enota upravlja motor s pomočjo informacij iz senzorjev. Obstoječi pogonski mehanizem vrat zahteva velik volumen, ki vpliva na vgradne možnosti v gradbeni objekt in na dizajn izdelka. Vse skupaj pa vpliva na arhitekte in lastnike, ki zahtevajo, da se bo izdelek čim bolj prilegal v objekt. Za dober dizajn in večjo vgradno prilagodljivost pa mora biti volumen pogona čim manjši. Tehnična slabost takega pogona je vzdrževanje in odvisnost kvalitete vodenja glede na vpetost jermena. Tega je težje vzdrževati pri veliki medosni razdalji pogona zaradi njegove obrabe in elastičnosti. Pri ohlapnem jermenu se izraziteje pojavljajo vibracije na mehanizmu. V najslabšemprimeru zobati jermen preskoči zob na jermenici, kar privede do napačne položajne meritve. Ta je izvedena na pogonskem motorju.

Keywords

modularni končni avtomati stanja;dogodkovno vodenje;asinhronska opravila vodenja;robustno vodenje;vodenje drsnih vrat;oblikovalne metode programiranja;mehka logika;kontrola sile;sistemska redundantnost;linearni sinhronski motorji;

Data

Language: Slovenian
Year of publishing:
Typology: 2.08 - Doctoral Dissertation
Organization: UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher: F. Hanžič]
UDC: 621.313.33:681.518.52(043.3)
COBISS: 267901440 Link will open in a new window
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Other data

Secondary language: English
Secondary title: EVENT-BASED CONTROL OF A MECHATRONIC SYSTEM WITH A MODULAR FINITE STATE MACHINE
Secondary abstract: The research work pertains to the interdisciplinary field of mechatronic system control, which combines leading-edge computing, electrical engineering and mechanical engineering. The work includes research on mechanical, electrical and software parts that fully cover automatic sliding door control.The scope of this work covers the development and software design for a mechatronic system, along with the technological modernisation and control system for a custom-made linear motor. The main body of this study covers finite-state machine software design for more reliable and efficient maintenance. However, it turned out that the method is not suitable for large-scale systems due to the large number of transitions (links between states) and the states. Such a method prevents the software code reliability, transparency and ease of maintenance. Due to its simplicity, the method was researched to incorporate it into large-scale systems without negative consequences, such as the transitions entanglement, lack of transparency and unreliability. The aim is to develop a modular software kernel with a hybrid control system for the ARM Cortex M3 microcontroller. The modular finite automata communicate by asynchronous processing with the FIFO queue and operating system with time interrupts. The modular FSMs processes represent the ability to communicate with other devices via CAN communication control ofmechatronic system (sliding doors), motion planning with S-form speed or a fuzzy logic, redundancy system, door regimes and safety management. The implementation of software code was examined to process finite automata statesin the programming language C. The aim is to achieve a reasonable and transparent code that does not need graphic software planning in the software documentation. Such principle provides direct verification of the program code. Otherwise, the verification is dependent on the software documentation, which depends on the human factor. Documentation and software code are usuallyopposite because they are not changed at the same time. Any significantchanges can occur in the maintenance of software code or by projectteam change. The research includes features robust control automatic sliding doors. The current object is highly dependent on the human factor thataffects the quality door control. The robust system could be adapted to the motion control depending on the system capacity. The various behaviours ofthe motion generator with S-form speed and fuzzy logic are included in this work. The influence on the control system between motion generators with S-shaped speed and fuzzy logic is examined. The responsiveness of mechatronic systems is analysed for different motion generator techniques. The analysis includes responses, effects and shocks on the drive mechanism. The work includes control design for a variable-guided weight. The concepts presented are verified on the prototype controller and mechatronic test-bed. The design of a door drive with a linear motor could reduce the negative effects of belt drive. The mechatronic system (automatic sliding door) is controlled by the DCmotor via the belt drive mechanism. The control unit manages the door motion, using information obtained from the sensors. The existing door drive takes up much space, which affects the installation options in the building and the design of the product. All this has an impact on the architects and owners, who require that the product will fit into the building. A minimum drive volume should be kept for good design and greater installation flexibility. Technical weakness of such a drive is maintenance and the dependence of control quality according to the clamped belt. It is harder to maintain in large wheelbase drive due to its wear and elasticity. The vibrations appear on the mechanism by a loose belt. In the worst case, belt pulley skipped, leading to incorrect positioning measurements. Measurement is implemented on the drive motor.
Secondary keywords: modular finite state machine;event control;motion generator;asynchronous task execution;ARM Cortex M3;DSP;robust control;sliding door control;software design;fuzzy logic;force control;system redundancy;linear synchronous motor;
URN: URN:SI:UM:
Type (COBISS): Dissertation
Thesis comment: Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko
Pages: VI, 113 str.
ID: 8726425