Dogodkovno vodenje mehatronskega sistema z modularnimi končnimi avtomati stanj : doktorska disertacija

slovenian

doktorska dela

2013

Univerza v Mariboru, Fakulteta za elektrotehniko računalništvo in informatiko

The research work pertains to the interdisciplinary field of mechatronic system control, which combines leading-edge computing, electrical engineering and mechanical engineering. The work includes research on mechanical, electrical and software parts that fully cover automatic sliding door control.The scope of this work covers the development and software design for a mechatronic system, along with the technological modernisation and control system for a custom-made linear motor. The main body of this study covers finite-state machine software design for more reliable and efficient maintenance. However, it turned out that the method is not suitable for large-scale systems due to the large number of transitions (links between states) and the states. Such a method prevents the software code reliability, transparency and ease of maintenance. Due to its simplicity, the method was researched to incorporate it into large-scale systems without negative consequences, such as the transitions entanglement, lack of transparency and unreliability. The aim is to develop a modular software kernel with a hybrid control system for the ARM Cortex M3 microcontroller. The modular finite automata communicate by asynchronous processing with the FIFO queue and operating system with time interrupts. The modular FSMs processes represent the ability to communicate with other devices via CAN communication control ofmechatronic system (sliding doors), motion planning with S-form speed or a fuzzy logic, redundancy system, door regimes and safety management. The implementation of software code was examined to process finite automata statesin the programming language C. The aim is to achieve a reasonable and transparent code that does not need graphic software planning in the software documentation. Such principle provides direct verification of the program code. Otherwise, the verification is dependent on the software documentation, which depends on the human factor. Documentation and software code are usuallyopposite because they are not changed at the same time. Any significantchanges can occur in the maintenance of software code or by projectteam change. The research includes features robust control automatic sliding doors. The current object is highly dependent on the human factor thataffects the quality door control. The robust system could be adapted to the motion control depending on the system capacity. The various behaviours ofthe motion generator with S-form speed and fuzzy logic are included in this work. The influence on the control system between motion generators with S-shaped speed and fuzzy logic is examined. The responsiveness of mechatronic systems is analysed for different motion generator techniques. The analysis includes responses, effects and shocks on the drive mechanism. The work includes control design for a variable-guided weight. The concepts presented are verified on the prototype controller and mechatronic test-bed. The design of a door drive with a linear motor could reduce the negative effects of belt drive. The mechatronic system (automatic sliding door) is controlled by the DCmotor via the belt drive mechanism. The control unit manages the door motion, using information obtained from the sensors. The existing door drive takes up much space, which affects the installation options in the building and the design of the product. All this has an impact on the architects and owners, who require that the product will fit into the building. A minimum drive volume should be kept for good design and greater installation flexibility. Technical weakness of such a drive is maintenance and the dependence of control quality according to the clamped belt. It is harder to maintain in large wheelbase drive due to its wear and elasticity. The vibrations appear on the mechanism by a loose belt. In the worst case, belt pulley skipped, leading to incorrect positioning measurements. Measurement is implemented on the drive motor.

07.08.2023