Povzetek. V tem príspevku sta predstavljena načrtovanje in izvedba sistema za regulacijo ravnovesja krogle na letvi z uporabo industrijske krmilne opreme Mitsubishi. Sistem je bil izveden mehansko in ...v simulacijah. Industrijski servomotor s servoojačevalnikom zagotavlja naklon letve, za krmiljenje sistema se uporablja industrijski PLK, za uporabniški vmesnik pa zaslon HMI. Izpeljan je bil dinamični matematični model sistema regulacije ravnovesja krogle na letvi. Model je bil uporabljen v simulacijah za načrtovanje ustreznih krmilnih algoritmov, simulacije zasnovanih algoritmov pa so bile izvedene v okolju Matlab/Simulink. Ti algoritmi so bili nato implementirani v PLK, strojna oprema je bila konfigurirana, uporabniški vmesnik HMI na zaslonu pa ustvarjen. Izmerili smo učinkovitost krmiljenja na realnem sistemu in jo primerjali s simulacijami. Naprava, ki smo jo izdelali, omogoča nadzor položaja krogle vzdolž letve. Na voljo so različni algoritmi vodenja, parametre vodenja pa lahko spreminjamo prek vmesnika HMI. Razviti sistem se lahko uporablja kot alternativa komercialnim sistemom za učenje teorije vodenja ter hkrati spoznavanje industrijske strojne in programske opreme.
This paper presents the design and implementation of a ball-on-beam system (BBS) using Mitsubishi industrial equipment. The system was implemented both mechanically and in simulations. An industrial ...servo motor with servo drive ensures the angle of the beam. An industrial PLC is used to control the system and an HMI display is used for the user interface. A dynamic mathematical model of the ball-on-beam system has been developed. The model was used in simulations to design the corresponding control algorithms and simulations of the designed algorithms were performed in the Matlab/Simulink environment. These algorithms were then implemented in the PLC, the hardware configured, and the on-screen HMI user interface created. We have measured the performance of the control on a real system and compared it with simulations. The device we have built allows us to control the position of the ball along the beam. Different control algorithms are available, and the controller parameters can be changed via the HMI interface. The developed system can be used as an alternative to commercial systems to learn control theory and at the same time to learn about industrial hardware and software.
