Design of alternating-current electrical servodrive based on Mitsubishi Electric control hardware

U ovom završnom radu opisuju se regulacije pozicije, brzine i momenta servo motora pomoću digitalnih i analognih izlaza programabilnog logičkog kontrolera. Dan je uvid u načine rada i arhitekturu servo pojačala i servo motora. Navedeni su izrazi za izvode matematičkih modela regulacija brzine i momenta motora sa stalnim magnetima na rotoru te je provedena simulacijska analiza u programskom paketu Matlab i programskom alatu Simulink. Opisani izvod temelji se na Clarkeovim i Parkovim transformacijama iz statorskog troosnog koordinatnog sustava u rotirajući dvoosni koordinatni sustav. Nadalje, objašnjena je konfiguracija sustava sa opremom iz Mitsubishi Electric asortimana opreme za automatizaciju. Projektiranje je redom objašnjeno, od kabliranja sustava, izrade programa za programabilni logički kontroler, povezivanje kontrolera sa servo pojačalom, izrade zaslona za operaterski terminal i samog upravljanja pomoću navedenog terminala. Navedene su dodatne mogućnosti koje su dostupne za korištenje i opisana je maketa koja je izrađena kao eksperimentalni postav. Eksperimentalni postav sastoji se od servo pojačala MR-JE-10A, servo motora HG-KN13J, programabilnog logičkog kontrolera FX5U sa tranzistorskim izlazima i GS2107-WTBD operaterskog terminala. Plan je da se završni rad, uz službenu literaturu, koristi u edukaciji sadašnjih i budućih generacija studenata mehatronike i robotike na području mikroprocesorskog upravljanja i energetske elektornike.In this final paper the position control, speed control and torque control of a servo motor using the digital and analog outputs of a programmable logic controller are described. Insights into the modes and architecture of servo amplifiers and servo motors are given. The expressions for mathematical models are stated for the speed control and torque control of the motor with permanent magnets on the rotor. Furthermore the simulation analysis was performed in the Matlab software package and the Simulink software tool. The excerpts described are based on Clarke and Park transformations from a stator three-axis coordinate system to a rotating two-axis coordinate system. In addition, the system configuration with equipment from the Mitsubishi Electric automation equipment is explained. The design is explained in sequence, from cabling the system, designing a programmable logic controller, connecting the controller to a servo amplifier, creating a screen for the operator terminal, and operating the terminal itself. Additional features that are available for use are listed and experimental setup layout is described. The experimental setup consists of the MR-JE-10A servo amplifier, the HG-KN13J servo motor, the FX5U programmable logic controller with transistor outputs, and the GS2107-WTBD operator terminal. The plan is to utilize this final paper, along with the official literature, to educate current and future generations of mechatronics and robotics students in the field of microprocessor control and power electronics