Návrh a realizace řídicího algoritmu pro kreslicí lustr Pendulum
Loading...
Date
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
Tato práce se zabývá tvorbou algoritmu pro PLC, které řídí model kinetické plastiky Pendulum. Kinetická plastika Pendulum funguje na principu závěsného kyvadla, jehož dráha je řízena pomocí tří bočních tažných lan navíjených servopohony s převodovkou. Závěs kyvadla se pohybuje po kulové ploše a pomocí výsuvného hrotu vykresluje obrazce do pískové plochy pod ním umístěné. Celý mechanismus je možné ovládat z obslužného HMI.Řídicí algoritmus je navržen ve vývojovém prostředí Sysmac Studio pro PLC a servopohony značky Omron. Zajišťuje načtení a zpracování dat z FTP severu, na který jsou poslána z externí návrhové aplikace umístěné na obslužném notebooku. Data jsou přijímána ve formátu pozice hrotu kyvadla v čase a jsou interpolována buďto lineárně, nebo kubickým splinem. Synchronizace pohybu servopohonů je zajištěna pomocí virtuálních os a vektorového přepočtu zpracovaných dat na délky jednotlivých lan.
This thesis deals with the creation of an algorithm for PLC, which controls the model of kinetic sculpture Pendulum. The Pendulum kinetic sculpture works on the principle of a pendulous construction, the path of which is controlled by three ropes on its sides. Ropes are wound with servo drives with a gearbox. The pendulum moves along a spherical surface and uses an extendable drawing tip to draw shapes into a sand surface below it. The whole mechanism can be controlled from the operating HMI panel.The control algorithm is designed in the Sysmac Studio development environment for Omron PLCs and servo systems. The algorithm performs reading and processing of data from an FTP server, which is sent from an external design application located on the operating laptop. The data is received in a format of pendulum tip position as a function of time and is interpolated either linearly or by a cubic spline. Synchronization of the servomotors is ensured by means of virtual axes and vector conversion of processed data into the lengths of individual ropes.
This thesis deals with the creation of an algorithm for PLC, which controls the model of kinetic sculpture Pendulum. The Pendulum kinetic sculpture works on the principle of a pendulous construction, the path of which is controlled by three ropes on its sides. Ropes are wound with servo drives with a gearbox. The pendulum moves along a spherical surface and uses an extendable drawing tip to draw shapes into a sand surface below it. The whole mechanism can be controlled from the operating HMI panel.The control algorithm is designed in the Sysmac Studio development environment for Omron PLCs and servo systems. The algorithm performs reading and processing of data from an FTP server, which is sent from an external design application located on the operating laptop. The data is received in a format of pendulum tip position as a function of time and is interpolated either linearly or by a cubic spline. Synchronization of the servomotors is ensured by means of virtual axes and vector conversion of processed data into the lengths of individual ropes.
Description
Subject(s)
kyvadlo, PLC, řídicí algoritmus, Sysmac Studio, servopohony, interpolace, FTP server, vektory, Pendulum, PLC, control algorithm, Sysmac Studio, servo systems, interpolation, FTP server, vectors