Vodenje sistema magnetnega vzmetenja z industrijskim vgradnim računalnikom Beckhoff

Jović, Aleksa (author), Mušič, Gašper (mentor)

Diplomsko delo preučuje možnost uporabe industrijskega vgradnega računalnika Beckhoff CX5120 in razvojnega okolja TwinCAT za vodenje sistema magnetne vzmetenja. Sistem magnetnega vzmetenja, Amira MA400, je z vidika vodenja zelo zahteven zaradi svoje lastne nestabilnosti in nelinearnih značilnosti. Cilj raziskave je razviti simulacijski model, zasnovati strategijo zaprtozančnega vodenja in jo implementirati na dejanski napravi za namen ocenjevanja učinkovitosti. Zaradi preprostosti in učinkovitosti je uporabljen proporcionalno-integrirno-diferencirni (PID) regulator. Simulacije, izvedene s programoma MATLAB in Simulink, omogočajo optimizacijo parametrov PID, ki se nato potrdijo z dejanskimi poskusi. Strategija vodenja učinkovito ohranja stabilnost levitacije tudi ob prisotnosti manjših motenj. Diplomska naloga prikaže izvedljivost uporabe te vrste regulacije PID za stabilizacijo nestabilnega sistema, kar dokazujejo štirje poskusi, ki preizkušajo robustnost in omejitve te metode krmiljenja.

• Language: Slovenian
• Keywords: Magnetno vzmetenje, PID regulator, Beckhoff CX5120, TwinCAT
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FE - Faculty of Electrical Engineering
• Year: 2024
• PID: 20.500.12556/RUL-161584
• COBISS.SI-ID: 208066051
• Publication date in RUL: 12.09.2024

Secondary language

• Language: English
• Title: Control of the magnetic suspension system with a Beckhoff industrial embedded computer

Abstract

This thesis investigates the potential for utilizing the Beckhoff CX5120 industrial embedded computer with the TwinCAT environment to control a magnetic suspension system. The magnetic levitation system, Amira MA400, presents a number of challenges due to its inherent instability and nonlinear characteristics. The study aims to develop a simulation model, design a closed-loop control strategy, and implement it on actual hardware for the purpose of evaluating performance. A proportional-integral-derivative (PID) controller is employed due to its simplicity and effectiveness. Simulations conducted using MATLAB and Simulink facilitate the optimization of PID parameters, which are subsequently validated through real-world experiments. The control strategy effectively maintains levitation stability, even in the presence of limited disturbances. This thesis demonstrates the feasibility of employing this type of PID control to stabilize an unstable system, as evidenced by four experiments that test the robustness and limits of that method of control.

• Keywords: Magnetic suspension, PID Controller, Beckhoff CX5120, TwinCAT