Upravljačke strukture vibracionog transporta rasutih materijala baziranog na elektromagnetnim aktuatorima
Author
Mišljen, PetarMentor
Matijević, MilanDespotović, Željko
Committee members
Lazarević, MihailoTanasković, Marko
Bogdanović, Gordana
Ristanović, Milan
Šekara, Tomislav
Metadata
Show full item recordAbstract
REZIME:
Primena elektromagnetnog vibracionog pogona u kombinaciji sa energetskim
pretvaračem omogućava fleksibilnost vibracionog transporta. Na ovaj način je
dobijen vibraciono-transportni sistem, koji se ponaša kao kontrolisani
mehanički oscilator. Regulisani rezonantni elektromagnetni transporteri
dodatno obezbeđuju visoku energetsku efikasnost koja se ogleda u minimalnoj
vrednosti pobudne struje kalema vibracionog aktuatora, minimalnoj potrošnji
električne energije i poboljšanju faktora snage celokupnog elektromagnetnog
pogona. Glavni doprinos ove disertacije ogleda se u predlogu modela
vibracionog transporta rasutog materijala, zasnovanog na elektromagnetnim
aktuatorima, i u predlogu primene upravljačke strukture za kontrolu amplitude
oscilovanja korita i protoka materijala, koristeći prediktivni kontroler.
Budući da se postojeće upravljačke strukture vibracionog transporta uglavnom
baziraju na primeni nekog oblika PID regulatora, ova disertacija značajno
doprinosi ra...zvoju upravljačkih struktura vibracionog transporta, što je
omogućeno primenom brzih mikrokontrolera sa velikom računskom snagom. Za
izrađeno eksperimentalno postrojenje izvršeno je modeliranje dinamičkog
sistema objekta upravljanja. Nelinearni model sistema, u kontinualnom obliku,
izrađen je primenom softverskog paketa MATLAB/Simulink. Razmatrana su dva
algoritma upravljanja. Prediktivni algoritam upravljanja, zasnovan na primeni
''Model predictive control'' (MPC) kontrolera, i konvencionalni algoritam
upravljanja, zasnovan na primeni PID kontrolera. Za obradu signala sa senzora
pomeraja korita i za generisanje upravljačke promenljive koriste se dva zasebna
mikrokontrolera STM32F407VGT6. Na osnovu dobijenih frekventnih
karakteristika, jasno je da PI kontroler ima znatno širi propusni opseg.
Ovakav rezultat je očekivan, s obzirom na prirodu MPC kontrolera. Dobijeni
simulacioni i eksperimentalni rezultati potvrđuju da je usvojeni model
vibracionog transportera sa elektromagnetnim aktuatorom prihvatljiv ukoliko
se pobuđivanje aktuatora vrši strujnim impulsima čija je učestanost jednaka
mehaničkoj rezonantnoj učestanosti transportera. Izvršena je eksperimentalna
verifikacija usvojenog modela transportera i definisani su parametri pomoću
kojih je moguće odrediti radnu tačku transportera sa maksimalnom energetskom
efikasnošću. Ukoliko je ispunjen uslov da je brzina kretanja materijala kroz
korito manja od kritične, promena mase koja opterećuje opruge je zanemarljiva i
MPC kontroler predstavlja rešenje koje treba primeniti za sporopromenljive
procese, dok PI kontroler treba primenjivati u sistemima koji zahtevaju znatno
širi propusni opseg.
ABSTRACT:
The application of electromagnetic vibration drive in combination with an energy
converter allows for the vibration transport flexibility. In this way, a vibration-transport
system, which acts as a controlled mechanical oscillator, is obtained. Regulated resonant
electromagnetic transducers additionally provide high energy efficiency, which is
reflected in the minimum value of the excitation current of the vibration actuator, the
minimum power consumption and the improvement of the power factor of the entire
electromagnetic drive. The main contribution of this dissertation is reflected in the
proposal of the vibratory transport model of the bulk material, based on electromagnetic
actuators, and in the proposal of application of the control structure for controlling the
amplitude of the oscillation of the trough and the flow of material, using the predictive
controller. Since the existing control structures of vibration transport are mainly based
on the application... of some form of PID controller, this dissertation significantly
contributes to the development of control structures of vibration transport, which is
enabled by the use of fast microcontrollers with large computational power. For the
created experimental facility, a dynamic system of the management object was
modeled. The nonlinear system model, in continuous form, was created using the
MATLAB / Simulink software package. Two management algorithms were considered.
Predictive control algorithm, based on the application of the MPC controller, and a
conventional control algorithm, based on the application of the PID controller. Two
separate microcontrollers STM32F407VGT6 are used to process the signals from the tilt
sensor and to generate the control variables. Based on the obtained frequency
characteristics, it is clear that the PI controller has a much wider bandwidth. This result
is expected, given the nature of the MPC controller. The obtained simulation and
experimental results confirm that the adopted model of a vibrating conveyor with an
electromagnetic actuator is acceptable if the actuator's excitation is carried out by
current impulses whose frequency is equal to the mechanical resonance frequency of the
conveyor. Experimental verification of the adopted model of the conveyor is performed
and defines the parameters by which it is possible to determine the operating point of
the conveyor with the maximum energy efficiency. If the case is that the speed of
material movement through the trough is less than critical, the change in the mass that
bursts the springs is negligible and the MPC controller is a solution that should be
applied to slow processes, while the PI controller should be applied in systems that
require a much wider bandwidth.