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Skalbar distribuerad positionsreglering avgodtyckliga vinschsystem
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2011 (Swedish)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Scalable distributed position control of generalwinch systems (English)
Abstract [sv]

SammanfattningSom den avslutande delen på en Civilingenjörsutbildning på KTH utförs ett Examensarbete.Examensarbetet syftar till att ge erfarenheter och att utveckla förmågan i att lösa entidsbegränsad uppgift under realistiska förhållanden på ett ingenjörsvetenskapligt sätt. Dessaprojekt har i stor utsträckning samarbeten med arbetslivet och i detta fall var uppdragsgivarenVisual Act AB i Värmdö. Uppgiften gick ut på att implementera en regulator som styr motoraxlarpå en PC. I dagsläget nyttjar Visual Act intelligenta drivsteg som själva sköterpositionsregleringen. Exjobbet syftade till att undersöka möjligheterna att användaointelligentare och billigare drivsteg genom att flytta regleringen från drivstegen till en PC somredan är befintlig i Visual Acts system.Två applikationer utvecklades för att lösa detta. Den ena var regulatorprogrammet och denandra skötte systemidentifieringen och regulatorkalibreringen. Regulatorprogrammetkommunicerar med det befintliga programmet som tidigare pratat med drivstegen själv, mensom nu istället skickar referenser till regulatorn. Kalibreringsprogrammet utvecklades för attkalibrera en axel i taget och är i den månen fristående. Kalibreringen sköts genom att kalibreraparametrar till regulatorn enligt olika standardförfaranden som tagits fram av ingenjörer ochforskare under 1900-talet.

Abstract [en]

AbstractAs the finishing part of a M.Sc education at KTH a thesis project is performed. The purpose ofthe thesis project is to give experiences in, and to develop abilities to solve a timeconstrainedtask under realistic conditions and in a scientific manner. These projects are usually connectedto the industry and in this case, the employer was Visual Act AB in Värmdö. The task was toimplement a controller for motoraxis on a PC. Earlier Visual Act used intelligent drives to controlthe axispositions. The thesis project aimed to investigate the possibilities to use unintelligentand cheaper drives by moving the control from the drives to a PC which already is present intheir system.Two applications were developed to solve this. One of them was the controllerprogram and theother one took care of system identification and controllercalibration. The controllerprogramcommunicates with the application that earlier was talking to the drives, but instead sendsreferences to the controller. The calibrationprogram was developed to calibrate one motor at atime and is, due do this, a stand-alone application. The calibration is done by calibratingparameters for the controller according to various standard practices developed by engineersand scientists during the 20th century.

Place, publisher, year, edition, pages
2011. , 108 p.
Series
MMK 2011:40 MDA 389
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-39816OAI: oai:DiVA.org:kth-39816DiVA: diva2:440585
Uppsok
Technology
Supervisors
Examiners
Available from: 2011-11-28 Created: 2011-09-13 Last updated: 2011-11-28Bibliographically approved

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