Publication detail
Servo control design for pantographic leg in SimMechanics
BEZDÍČEK, M. SAJFRT, L. GREPL, R.
Czech title
Návrh řízení servopohonů pantografické nohy v SimMechanics
English title
Servo control design for pantographic leg in SimMechanics
Type
conference paper
Language
cs
Original abstract
Pantographic leg is actuated by three positional servo drives (two linear and one rotational). Every servo drive includes DC motor with gearbox and motor control unit. Motor control unit has two parts: regulator part (discrete PI) and power part. Simulations in Matlab were used to find parameters of PI regulator to desire required behavior (minimal rise time, overshot and steady-state error). Each of four legs has a main control unit, witch transforming position data of end point of leg to coordinates of a servo drive. Main control unit also synchronizes all three servo drives. Model of the main control unit helps to check idea of synchronizing servo drives. Finally microcontrollers were programmed according to the Matlab model and whole prototype of leg was tested. Results of tests were exactly as computer simulation shows. This approach to design servo control is very vast and sophisticated.
Czech abstract
Pantographic leg is actuated by three positional servo drives (two linear and one rotational). Every servo drive includes DC motor with gearbox and motor control unit. Motor control unit has two parts: regulator part (discrete PI) and power part. Simulations in Matlab were used to find parameters of PI regulator to desire required behavior (minimal rise time, overshot and steady-state error). Each of four legs has a main control unit, witch transforming position data of end point of leg to coordinates of a servo drive. Main control unit also synchronizes all three servo drives. Model of the main control unit helps to check idea of synchronizing servo drives. Finally microcontrollers were programmed according to the Matlab model and whole prototype of leg was tested. Results of tests were exactly as computer simulation shows. This approach to design servo control is very vast and sophisticated.
English abstract
Dynamický model pantografu nohy byl doplněn o modely jednotlivých pohonů a modely řídicích jednotek. Pohony odpovídají skutečným stejnosměrným motorům s převody a modely řídicích jednotek reprezentují reálné moduly určené k řízení nohy. Cílem je tedy navrhnout a odladit programy pro jednotlivé mikrokontroléry osazené na deskách modulů. Přesně dle navržených algoritmů byly naprogramovány mikrokontroléry. Chování reálné pantografické nohy odpovídalo výsledkům simulace.
Keywords in English
simmechanics, pantographic leg, regulator, simulation
RIV year
2003
Released
03.11.2003
Publisher
Západočeská univerzita v Plzni
Location
Plzeň
ISBN
80-7082-999-0
Book
Výpočtová mechanika 2003
Pages count
6
BIBTEX
@inproceedings{BUT9169,
author="Milan {Bezdíček} and Luboš {Sajfrt} and Robert {Grepl},
title="Návrh řízení servopohonů pantografické nohy v SimMechanics",
booktitle="Výpočtová mechanika 2003",
year="2003",
month="November",
publisher="Západočeská univerzita v Plzni",
address="Plzeň",
isbn="80-7082-999-0"
}