Publication detail

Návrh řízení servopohonů pantografické nohy v SimMechanics

Original Title

Návrh řízení servopohonů pantografické nohy v SimMechanics

Czech Title

Návrh řízení servopohonů pantografické nohy v SimMechanics

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.

Documents

BibTex


@inproceedings{BUT9169,
  author="Milan {Bezdíček} and Luboš {Sajfrt} and Robert {Grepl}",
  title="Návrh řízení servopohonů pantografické nohy v SimMechanics",
  annote="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.",
  address="Západočeská univerzita v Plzni",
  booktitle="Výpočtová mechanika 2003",
  chapter="9169",
  institution="Západočeská univerzita v Plzni",
  year="2003",
  month="november",
  pages="43",
  publisher="Západočeská univerzita v Plzni",
  type="conference paper"
}