Construction and Simulation on Control System of Voice Coil Linear Motor Based on PCC

Transcription

1 Interntionl Conerene on Logistis Engineering, Mngement nd Computer Siene (LEMCS 015) Constrution nd Simultion on Control System o Voie Coil Liner Motor Bsed on PCC Rongrong Wu Shool o Eletroni Engineering, Tinjin University o Tehnology nd Edution, Tinjin 300, Chin @qq.o m Liqing Wng Shool o Eletroni Engineering, Tinjin University o Tehnology nd Edution, Tinjin 300, Chin @qq.o m Shengli Lu Engineering Trining Center, Tinjin University o Tehnology nd Edution, Tinjin 300, Chin LSL561@163.om Gungwei Wng Shool o Eletroni Engineering, Tinjin University o Tehnology nd Edution, Tinjin 300, Chin @qq.o m Abstrt On the bsis o estblishing ontrol system model o voie oil liner motor, sturted link nd ded zone link o nonliner systems re mde Simulink simultion to implement the optimiztion o ontrol system. B&R Automtion Studio integrted development environment is used to utomtilly generte the C ode, whih n be downloded to run on the B&R PCC, nd the min perormne index o ontrol system hieve the design requirements. Keywords- Voie Coil Liner Motor; Sturted Link; Ded Zone Link; Automtion Studio; B&R PCC; I. INTRODUCTION Liner motor s elertion n be up to 10g or more ter diret drive. It is more suitble or high speed, high elertion, high preision positioning, nd speed drive. It is n idel hoie tht liner motor is used in the high speed reiproting liner motion osions. In high eiieny requirement res, suh s mhine nd the ield o medil devies, the use o liner motor n gretly improve the prodution eiieny [1]. Automtion Studio (AS) o B&R integrtes with the MATLAB/Simulink simultion ility, nd n utomtilly generte C ode, whih is downloded to the B&R PCC to run rom the ontrol system simultion model. AS integrted development environment bsed on B&R n eiiently omplete ontrol system design bsed on B&R PCC nd ensure the min inditors o ontrol system designed to meet the requirements []. It is undoubtedly very good design hoie or voie oil liner motor ontrol system. II. THE PROGRAMMING SOFTWARE AS Automtion Studio is n integrted progrmming environment or B&R utomtion produts, it provides users with mny progrmming lnguge spes nd lot o dignosti tools. Automtion studio sotwre pkges design or every objet (logi, motion, mesurement, ommunition, disply) o the mhine nd proesses (onigurtion, projet plnning nd mngement, dignostis, debugging nd mintenne). The design o the ontroller, servo, Sety tehnology nd ommunitions n implement in the "ALL in One" Automtion Studio toolkit or B&R Automtion Studio. Automtion Studio provides omplete pltorm engineering design nd pplition or the system integrted vriety o ontrol demnds suh s motor, it mkes the ode genertion, remote dignostis nd mintenne re integrted s whole. B&R Automtion Studio s untion is shown in Fig. 1. ontroller Simultion Automti Code genertion Automtion Projet Mhine Automtion Pnel Automtion PC Figure 1. B&R Automtion Studio s untionl shemti. III. THE VOICE COIL LINEAR MOTOR A. The mthemtil model o Voie Coil Motor The mthemtil model o the voie oil motor is estblished ording to the work dynmi hrteristis o the voie oil motor [3]. I you wnt to design voie oil motor ontrol system, whih hs good position nd speed ontrol o voie oil motor, the 015. The uthors - Published by Atlntis Press 98

2 irst problem is to estblish resonble mthemtil model o the voie oil motor. The mthemtil model n nlyze the inluene o vrious prmeters on the dynmi perormne o the voie oil motor nd provide the theoretil bsis or the seletion prmeters nd the estblishment o ontrol system or the design o the voie oil motor. Mthemtil mode is estblished using the voltge eqution nd stress equtions, ording to the eletromgneti theory, bsed on the simpliied model o voie oil motor [4]. Aording to the eletromgneti theory, when the rotor oil is moving, in ddition to the eletromgneti ore, the oil winding n ut mgneti lines, so lso nti eletri E is generted, its size is E B LV Signl soure voltge o the voie oil motor, nmely rmture voltge, is ssumed to be, the resistne o the oil nd the iruit resistne onstitute the rmture iruit resistne, When the voltge blne eqution o stedy stte is bsed on Kirhho's voltge lw n write U R I E U R I B LV In the ontrol system, the voie oil motor is lwys in dynmi ondition, beuse the rmture existing indutne L i nd rmture urrent re onstntly hnging, so the rmture oil genertes voltge L di drop s ollows u R i, the voltge blne eqution o dynmi L di Ri B Lv L di Under the dynmi onditions, the mover o the voie oil motor oten work on elerting nd deelerting stte, to elerte the ompletion o liner motion, so the eletromgneti ore required to in the visous rition, its size is muh lrger thn tht o dry rition, nd reserhers onsider only the bloking eet o visous rition. The visous rition ore depends on the size o the moving oil motor speed, whih is proportionl to the speed, the size is v dx In the ormul, is the visous dmping oeiient. The voie oil motor rotor oil is in motion, the eletromgneti ore, its size is e B Li There re inertil ore m nd visous rition when the motor is in motion. Aording to the reltionship between these ores, stress eqution o the voie oil motor in dynmi is d x m v m dx The type (1), (3), (6), (7) or the Lple trnsorm n be u ( R i( ( B Lv( ( sl i ( R i( B Lv( sl i ( ( B Li ( ( m( v( ms x( sx( overome the inerti ore inertil ore m is m o moving prt, The By (8), (9), (10), (11) to get the trnser untion between the voie oil motor rmture voltge nd displement. The trnser untion is m dv d x m m m In the ormul, m is dynmi qulity prts, v is dynmi motion veloity, x is liner displement o the rotor motion. Dynmi exerise inludes the inerti ore nd rit ion ore, nd rition inludes two kinds, dry rition nd visous rition. Whih plyed mjor role G( x( u ( B L 3 Lms ( L R m ) s ( R B L ) s Aording to the trnser untion, the mthemtil model o the voie oil motor is shown in Fig.. 983

3 ( u 1 R Ls i ( B L ( ( v ( x( m s s ( Figure. L B Blok digrm o voie oil motor. B. The nonliner nlysis nd simultion o voie oil liner motor ontrol system model Simulink tools in MATLAB sotwre pkge itsel hve nonliner module, whih n esily nlysis nd reserh or ny nonliner high system [5]. In this setion, ouses on sturted links nd ded zone in nonliner system with SIMULINK simultion, through the simultion nlysis to implement the optimiztion o voie oil liner motor ontrol system. Dierent nonliner link (sturtion, ded bnd) re introdued in urrent loop, speed loop nd position loop o the voie oil liner motor ontrol system, by looking t the step response o system, to nlyze nd ompre dierent nonliner link will et the perormne o the system. Voie oil liner motor ontrol system model is estblished to use Simulink toolbox in MATLAB [6]. As shown in Fig. 3, Fig. 4 nd Fig. 5 respetively re threering system blok digrm o voie oil liner motor ontrol system without ny nonliner prt. Figure 5. Position loop system blok digrm. 1) Anlysis nd simultion o Sturted nonliner Sturtion widely exist in ll kinds o ontrol systems, suh s tutors or some limiter or seurity nd rtiiil. Their presene or intervention n mke originlly liner systems to nonliner, to hnge the essene hrteristi o the system. By dding sturted nonliner system link, the system step response is ompred when the output upper nd lower limits o sturted nonliner link hnged, then reording the results o mny times simultion to the workspe by using the To Workspe module in the Simulink, nd drwing on the sme imge. As shown in Fig. 6, Fig. 7 nd Fig. 8, they re respetively three-ring system blok digrms or voie oil liner motor ontrol system with Sturted nonliner. Figure 6. Current loop system blok digrm o sturted nonliner. Figure 3. Current loop system blok digrm. Figure 7. Veloity loop system blok digrm o sturted nonliner. Figure 4. Veloity loop system blok digrm. 984

4 In the se o undistorted position loop step response system, the output upper limit o the sturtion nonliner prt respetively re 1.5,.15,.75, nd 4, orresponding to the output lower limit re -1.5, -.15, -.75, nd -4. Simultion results o bove ive dierent output rnges re shown in Fig. 11. Figure 8. Position loop system blok digrm o sturted nonliner. In the se o undistorted urrent loop step response system, the output upper limit o the sturtion nonliner prt is set t 1.75, nd the output lower limit is -1.75, the simultion results re reorded into the workspe vrible out1; the upper limit is 1.875, the lower limit is , the simultion results re reorded into the workspe vrible out ; the upper limit up to, the lower limit is -, the simultion results re reorded into the workspe vrible out3; the upper limit is.15, the lower limit is -.15, the simultion results re reorded into the workspe vrible out4; the upper limit is.5, the lower limit is -.5, the simultion results re reorded into the workspe vrible out5. Simultion results o bove ive dierent output rnges re shown in Fig. 9. Figure 9. Current loop step response o sturted nonliner. In the se o undistorted speed loop step response system, the output upper limit o the sturtion nonliner prt respetively re 30, 40, 50, 60 nd 70, orresponding to the output lower limit re -30, -40, -50, -60 nd -70. Simultion results o bove ive dierent output rnges re shown in Fig. 10. Figure 11. Position loop step response o sturted nonliner. Thereore, the dded sturted prt o the system will hve some impt on the system rom Fig. 9, Fig. 10 nd Fig. 11: when the output rnge o sturtion nonliner spets is nrrow, step response speed o the system is slow nd the rising time is long. At the sme time, overshoot is smll nd osilltion is not obvious; with the expnsion o the output rnge, elerting the response speed o the system nd reduing gretly the rise time, the system is lso ssoited with signiint osilltions. The reson is tht the sturted prt will ply limiting tion on the signl. It is esy to imgine tht the restrition is stronger, the output o the system is not esy to overshoot nd the response beomes slower [7]. ) Anlysis nd Simultion o Ded zone nonliner Ded is lso known s ded zone. Some mesurement, the onversion prts nd vriety o mpliiers o ontrol systems hve oten the ded zone in the viinity o zero. In ddition, due to the motor sht hs stti rition, the voltge pplied to the rmture must reh ertin vlue (no-lod strting voltge), then the motor n begin rotting, so the motor hs ded zone (no-lod strting voltge is the insensitive rnge o motor). By dding ded zone nonliner system link, the system step response is ompred when the output upper nd lower limits o ded zone nonliner link hnged, then reording the results o mny times simultion to the workspe by using the To Workspe module in the Simulink, nd drwing on the sme imge. As shown in Fig. 1, Fig. 13 nd Fig. 14 respetively re three-ring system blok digrms o voie oil liner motor ontrol system with ded zone nonliner. Figure 10. Veloity loop step response o sturted nonliner. 985

5 In the se o undistorted Veloity loop step response system, the output upper limit o the ded zone nonliner prt respetively re 1, 30, 60, 90 nd 10, orresponding to the output lower limit re -1, -30, -60, - 90 nd -10. Simultion results o bove ive dierent output rnges re shown in Fig. 16. Figure 1. Current loop system blok digrm o ded zone nonliner. Figure 16. Veloity loop step response o ded zone nonliner. In the se o undistorted Position loop step response system, the output upper limit o the ded zone nonliner prt respetively re , , 0.001, 0.01 nd 0.1, orresponding to the output lower limit re , , , nd Simultion results o bove ive dierent output rnges re shown in Fig. 17. Figure 13. Veloity loop system blok digrm o ded zone nonliner. Figure 17. Position loop step response o ded zone nonliner. Figure 14. Position loop system blok digrm o ded zone nonliner. In the se o undistorted urrent loop step response system, the output upper limit o the ded zone nonliner prt respetively re 0.001, 0.005, 0.01, 0.05 nd 0.1, orresponding to the output lower limit re , , -0.01, nd Simultion results o bove ive dierent output rnges re shown in Fig. 15. Figure 15. Current loop step response o ded zone nonliner. As reserhers n see tht the time o system begins to respond to step input signl is grdully delyed with the inrese o the ded bnd rnge rom igure 15, 16 nd 17. The reson is ded links will ignore the input in the ded zone, mking response o the system slow [8]. IV. AUTOMATICALLY GENERAT E C CODE B&R progrmming sotwre Automtion Studio integrtes Simulink model ode trnsltion untion, it n trnslte the existing Simulink model into PLC ontroller vilble progrmming lnguge ode, nd n hieve untions by other mens impossible or require lot o time to hieve [9]. First, Instlling simultion tool intere provided by B&R in MATLAB sotwre intere. Ater instlltion, there ppers B&R Automtion Studio Toolbox in the Simulink Librry tlog. The B&R Automtion Studio Toolbox tlog inludes B&R set blok, B&R input blok, B&R output blok, B&R prmeter blok et. It is shown in Fig

6 Figure 18. B&R Toolbox module. These untion bloks insted o the originl modules will be dded to the motor ontrol system simultion model. Step signl hnges or input module. PID prmeters hnges or Prmeter module tht it is good or rel-time djustment prmeters in the PLC. Output module hnges or output signl. It is shown in Fig. 19. Figure 1. The time prmeter setting. Finlly, to strt the C ode genertion button, the C ode will be utomtilly generted nd suessully implnted into the progrmming environment o AS projet. Further, Brsystem nd sys_lib re dded to the projet ile, then proess will be downloded to the PCC hrdwre o B&R by AS, the voie oil liner motor ontrol system n run in the B&R motion ontrol system [10]. As shown in Fig. is the tul running position o liner motor. Reserhers n see tht the veloity o motor whih running ording to ixed lw is high-speed nd stble rom the igure Figure 19. The simultion model joining B&R Simultion Module. Then, the modeling nd simultion is ompleted in MATLAB/Simulink, opening the B&R progrmming sotwre Automtion Studio to onigure series o prmeters o MATLAB nd AS. As shown in Fig. 0 is the lotion prmeter setting. As shown in Fig. 1 is the time prmeter setting. Figure. The tul running positon o liner motor. Figure 0. The lotion prmeter setting. V. CONCLUSIONS Through the nlysis o the struture, mthemtil model o voie oil liner motor ontrol system is estblished nd the nonliner system simultion in Simulink is mde. Due to its prtiulrity, there is no ommon reserh methods o nonliner system, but Simulink n esily omplete the modeling nd simultion o nonliner system, nd provides the ounion or urther orretion nd omplex system. In ddition, it n utomtilly generte C ode ter generting B&R Toolbox by B&R Automtion Studio Trget or Simulink, nd then imported into the B&R progrmming environment AS. The existing Simulink model n be trnsplnted to the PLC hrdwre to use, lgorithm nd objets be proved on the tul hrdwre objets. This enbles st whih lredy ustomed to using MATLAB/Simulink simultion no longer work s beore omplited work. This n gretly improve the progrmming eiieny nd redue development osts, menwhile void progrmming errors. 987

7 REFERENCES [1] Xi Zhou. The key tehnology reserh o high requeny voie oil liner motor motion system [D]. Tinjin: Tinjin University o Tehnology nd Edution,013 [] Rong Qi, Weirong Xio. Progrmmble omputer ontrol tehnology [M]. Beijing: Eletroni Industry Press,009 [3] Zhongxin Wng. MATLAB Modeling nd Simultion Applition [M]. Beijing: Mhinery Industry Press, 010 [4] Lili Liu. Reserh on Position Servo Control System or Voie Coil Motor[D]. Hrbin: Hrbin Institute o Tehnology,010 [5] Hui Zhng, Jing Liu, Gungeng Gun et l. Approhes to Non-linerity Compenstion o Servo Proportionl Vlve [J].Mhine Tool & Hydrulis, 010, 38(11):1-3 [6] Serkies P, Orlowsk-Kowlsk T, Cyhowski M, et l. Robust model preditive speed ontrol o the drive system with n elsti joint[c]//eurocon-interntionl Conerene on Computer s Tool(EUROCON), 011 IEEE. IEEE, 011: 1-4 [7] Guoli Yng, Mei Zheng, Guixing Bi. Emultion o Sturtion o Non-liner System Bsed on SIMULINK [J]. Journl o Gnsu Sienes, 011, 3(4):90-9 [8] Li Zho. Emultion o Ded zone o Non-liner System Bsed on SIMULINK [J]. Vlue Engineering, 010, (3):85 [9] Lei Li, Ziyu Hung Gng Li. Simulink PLC Coder in the B & R motion Control System Applition [J]. Instrumenttion Tehnology, 011, 6:59-61 [10] Xin Jin. Design nd implementtion o multi mss elsti torsion system ontroller bsed on PCC. Shnghi: Donghu University,