Publication detail

Position control design of a linear mechanical actuator

ANDRŠ, O. BŘEZINA, L. HOUŠKA, P.

Original Title

Position control design of a linear mechanical actuator

Czech Title

Návrh polohového řízení lineárního mechanického aktuátoru

English Title

Position control design of a linear mechanical actuator

Type

conference paper

Language

en

Original Abstract

Nowadays a Stewart platform six DOF parallel mechanism is constructed on FME BUT. The mechanism con-tains two plates linked to each other by six linear actuators. The mechanism control design task has several sub-tasks. One of which is the control design of a linear actuator (single mechanism link). The linear actuator proto-type consists of a DC motor with IRC sensor, ball screw and gearings. A model of the mechanism dynamics was built for the control purposes in state space form. The control is implemented in NI LabVIEW from where it is possible to control the constructed prototype through a real-time computer and a high-level amplifier. A laboratory device for DC motors control, designed in Laboratory of electrical devices UAI FME BUT, is used as a high-level amplifier of a hardware card output. NI LabVIEW environment also contains built-in tools for system simulation and identification which will be used for improvement of the model and control algorithms. The control algorithm will be tested on the experimental DC motor.

Czech abstract

V současné době je v rámi projektů řešených na FSI VUT v Brně rozpracován návrh Stewartovy platformy, která představuje paralelní mechanismus se šesti stupni volnosti. Námi realizovaný mechanismus obsahuje dvě desky (jedna pevná a jedna pohyblivá), které jsou propojeny šesticí lineárních pohonů. Problematika návrhu řízení platformy je dekomponována do několika dílčích úloh. Jednou z těchto úloh je návrh polohového řízení lineárního pohonu. Prototyp lineárního pohonu je složen z DC motoru s inkrementálním snímačem natočení, kuličkového šroubu a převodu ozubenými koly. Pro návrh řízení byl sestaven stavový model popisující dynamiku mechanismu. Pro implementaci řídicího systému bylo vybráno vývojové prostředí Labview. Algoritmus řízení byl poté otestován na experimentálním pohonu.

English abstract

Nowadays a Stewart platform six DOF parallel mechanism is constructed on FME BUT. The mechanism con-tains two plates linked to each other by six linear actuators. The mechanism control design task has several sub-tasks. One of which is the control design of a linear actuator (single mechanism link). The linear actuator proto-type consists of a DC motor with IRC sensor, ball screw and gearings. A model of the mechanism dynamics was built for the control purposes in state space form. The control is implemented in NI LabVIEW from where it is possible to control the constructed prototype through a real-time computer and a high-level amplifier. A laboratory device for DC motors control, designed in Laboratory of electrical devices UAI FME BUT, is used as a high-level amplifier of a hardware card output. NI LabVIEW environment also contains built-in tools for system simulation and identification which will be used for improvement of the model and control algorithms. The control algorithm will be tested on the experimental DC motor.

Keywords

parallel mechanism, DC motor control design, LabVIEW

RIV year

2008

Released

03.11.2008

ISBN

978-80-7043-712-4

Book

Výpočtová mechanika 2008

Edition

1

Edition number

1

Pages from

3

Pages to

4

Pages count

2

BibTex


@inproceedings{BUT27457,
  author="Ondřej {Andrš} and Lukáš {Březina} and Pavel {Houška}",
  title="Position control design of a linear mechanical actuator",
  annote="Nowadays a Stewart platform six DOF parallel mechanism is constructed on FME BUT. The mechanism con-tains two plates linked to each other by six linear actuators. The mechanism control design task has several sub-tasks. One of which is the control design of a linear actuator (single mechanism link). The linear actuator proto-type consists of a DC motor with IRC sensor, ball screw and gearings. A model of the mechanism dynamics was built for the control purposes in state space form. The control is implemented in NI LabVIEW from where it is possible to control the constructed prototype through a real-time computer and a high-level amplifier. A laboratory device for DC motors control, designed in Laboratory of electrical devices UAI FME BUT, is used as a high-level amplifier of a hardware card output. NI LabVIEW environment also contains built-in tools for system simulation and identification which will be used for improvement of the model and control algorithms. The control algorithm will be tested on the experimental DC motor.",
  booktitle="Výpočtová mechanika 2008",
  chapter="27457",
  edition="1",
  howpublished="print",
  year="2008",
  month="november",
  pages="3--4",
  type="conference paper"
}