Development, construction and control of a ball and beam control system

V okviru magistrske naloge smo zasnovali sistem krogle na letvi z uporabo industrijske opreme Mitsubishi. Sistem smo realizirali tako mehansko kot programsko. Za nagib letve smo uporabili industrijski servomotor s servoojačevalnikom. Za vodenje sistema smo uporabili PLK, za uporabniški vmesnik pa HMI-ekran. Izpeljali smo dinamični model. Model smo v simulacijah uporabili za oblikovanje ustreznih algoritmov krmiljenja. Znotraj okolja Matlab/Simulink smo izvedli simulacije načrtanih algoritmov. Te smo nato implementirali znotraj PLK-ja. Izvedli smo konfiguracijo strojne opreme in ustvarili uporabniški vmesnik na HMI-ekranu. Izvedli smo meritve uspešnosti regulacije na realnem sistemu in te primerjali s simulacijami. Naprava, ki smo jo izdelali, omogoča vodenje položaja krogle po nagibajoči se letvi. Želeni položaj krogle lahko določimo s potenciometrom ali z uporabniškim vmesnikom. Izbiramo lahko med različnimi regulacijskimi algoritmi, katerih parametre lahko spreminjamo preko vmesnika. Izdelani sistem lahko uporabimo kot alternativo komercialnim sistemom za učenje teorije regulacije in hkrati za učenje o industrijski strojni in programski opremi.As part of our master\u27s thesis, we designed a ball and beam system using Mitsubishi industrial equipment. We implemented the system both mechanically and programmatically. We used an industrial servo motor with a servo amplifier to tilt the beam. We used a PLC to control the system and an HMI screen for the user interface. We derived a dynamic model. The model was used in simulations to design appropriate control algorithms. Within the Matlab/Simulink environment, we performed simulations of designed algorithms. These were then implemented within the PLC. We performed the necessary hardware configuration and created custom display windows on the HMI screen. We performed measurements of control performance on the real system and compared these with simulations. The finished system allows one to control the position of the ball on a tilting beam. The desired position of the sphere can be set with a potentiometer or with a user interface. The operator can choose between different control algorithms, the parameters of which can be changed via the interface. The developed system can be used as an alternative to commercial systems for learning control theory and at the same time for learning about industrial hardware and software