Vodenje z aktivno kompenzacijo motnje in industrijskim vgradnim računalnikom : magistrsko delo

Markl, Miha (author), Mušič, Gašper (mentor)

V pričujočem delu je predstavljeno vodenje z aktivno kompenzacijo motnje (ADRC). Predstavljena je kratka zgodovina, elementi in značilnosti algoritma. Prikazan je postopek načrtovanja vodenja in primeri vodenja za proces prvega reda. Predstavljeni sta tudi modifikacija algoritma z nelinearnim regulatorjem in različica za procese z mrtvim časom. Opisana je laboratorijska naprava Armfield PCT-13 (toplotni izmenjevalnik), za katero je opisan razvoj vodenja ADRC. Za omenjeno napravo je opisan tudi razvoj PI-regulatorja s spremenljivim ojačenjem. Oba algoritma vodenja sta bila, preko razvojnega okolja TwinCAT, prenesena na vgradni računalnik Beckhoff CX5120 s pomočjo avtomatskega generiranja kode v simulacijskem okolju Matlab/Simulink. Podana je tudi priloga, v kateri je opisan postopek vzpostavljanja omenjenih programskih okolij. Primerjava vodenja ADRC in PI-regulatorja s spremenljivim ojačenjem je izvedena s pomočjo signalov, pridobljenih z meritvami na realni napravi (toplotni izmenjevalnik).

• Language: Slovenian
• Keywords: Vodenje z aktivno kompenzacijo motnje, ADRC, toplotni izmenjevalnik, Beckhoff, TwinCAT
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FE - Faculty of Electrical Engineering
• Place of publishing: Ljubljana
• Publisher: [M. Markl]
• Year: 2021
• Number of pages: XVIII, 71 str.
• PID: 20.500.12556/RUL-127782
• UDC: 681.5:658.5(043.3)
• COBISS.SI-ID: 67975427
• Publication date in RUL: 23.06.2021

Secondary language

• Language: English
• Title: Active disturbance control with industrial embedded computer : magistrski študijski program druge stopnje Elektrotehnika

Abstract

The thesis addresses active disturbance rejection control (ADRC). A short history, elements and features of the algorithm are presented. Furthermore, the design procedure and examples of ADRC control for a first order process are shown. Additionally, modifications of the algorithm with nonlinear controller and version for processes with dead time are presented. Laboratory device Armfield PCT-13 (heat exchanger) is described along with design procedure of a control algorithm. A PI-controller with variable gain is designed for the aforementioned device. Both control algorithms were created in Matlab/Simulink simulation environment and are transferred to a Beckhoff CX5120 embedded computer through the TwinCAT development environment with automatic code generation. The setup of the used software environment is described in the appendix. Comparison of ADRC control and PI-controller with variable gain is performed with signals, obtained by measurements on a laboratory device (heat exchanger).

• Keywords: Active disturbance rejection control, ADRC, heat exchanger, Beckhoff, TwinCAT