Tato práce se zabývá tvorbou Hardware-In-The-loop simulátoru portálového jeřábu a tím i celým X-In-the-Loop procesem. Začíná odvozením matematického modelu jeřábu, jeho validací, návrhem PID regulátoru a zapojením vstupně-tarovacího filtru pro utlumení houpání nákladu. Tento systém byl otestován v prostředí Simulink jako Model-In-the-Loop a poté v Rexygenu v reálném čase v Software-In-the-Loop konfiguraci. Nakonec je model systému a regulátoru spuštěn jako HIL na dvou počítačích, které spolu komunikují přes Modbus a analogově (pro emulaci řídícího signálu a senzorů). K tomu vykresluje HIL simulující systém 3D vizualizaci a HIL s regulátorem hostuje webové rozhraní pro ovládání systému.
Anotace v angličtině
This thesis is creating a Gantry crane Hardware-In-the-Loop simulator by following through the X-In-the-Loop process. It begins with mathematical model derivation and validation and PID controller tuning and input-shaper to cancel oscillations, is tested in Simulink in Model-In-the-Loop configuration, then in Rexygen in real-time simulation as a Software-In-the-Loop and ends as a HIL simulator of the system and another one of the controller with communication via Modbus and analog signal for control and sensor emulation. It also boasts 3D visualisation as part of the system HIL and web human-machine-interface to command the controller.
Klíčová slova
HIL Simulace, MBSE, Vstupně-tvarovací filtry, XIL proces, Portálový Jeřáb, 3D Vizualizace, Uživatelské rozhraní, Monarco HAT
Klíčová slova v angličtině
HIL Simulation, Model-Based System Engineering, Input-Shaping Filters, XIL process, Gantry Crane, 3D Visualisation, Human-Machine Interface, Monarco HAT
Rozsah průvodní práce
47
Jazyk
AN
Anotace
Tato práce se zabývá tvorbou Hardware-In-The-loop simulátoru portálového jeřábu a tím i celým X-In-the-Loop procesem. Začíná odvozením matematického modelu jeřábu, jeho validací, návrhem PID regulátoru a zapojením vstupně-tarovacího filtru pro utlumení houpání nákladu. Tento systém byl otestován v prostředí Simulink jako Model-In-the-Loop a poté v Rexygenu v reálném čase v Software-In-the-Loop konfiguraci. Nakonec je model systému a regulátoru spuštěn jako HIL na dvou počítačích, které spolu komunikují přes Modbus a analogově (pro emulaci řídícího signálu a senzorů). K tomu vykresluje HIL simulující systém 3D vizualizaci a HIL s regulátorem hostuje webové rozhraní pro ovládání systému.
Anotace v angličtině
This thesis is creating a Gantry crane Hardware-In-the-Loop simulator by following through the X-In-the-Loop process. It begins with mathematical model derivation and validation and PID controller tuning and input-shaper to cancel oscillations, is tested in Simulink in Model-In-the-Loop configuration, then in Rexygen in real-time simulation as a Software-In-the-Loop and ends as a HIL simulator of the system and another one of the controller with communication via Modbus and analog signal for control and sensor emulation. It also boasts 3D visualisation as part of the system HIL and web human-machine-interface to command the controller.
Klíčová slova
HIL Simulace, MBSE, Vstupně-tvarovací filtry, XIL proces, Portálový Jeřáb, 3D Vizualizace, Uživatelské rozhraní, Monarco HAT
Klíčová slova v angličtině
HIL Simulation, Model-Based System Engineering, Input-Shaping Filters, XIL process, Gantry Crane, 3D Visualisation, Human-Machine Interface, Monarco HAT
Zásady pro vypracování
1) Analyze current trends in MBSE (model based system engineering) and especially the role of hardware-in-the-loop simulation both in terms of industrial application and possible enhancement of related education methods.
2) Compare the available technologies for creating HIL simulators in terms of price, performance and other factors.
3) Create a suitable dynamic model of an overhead crane with variable weight and rope length
4) Describe the principles of smart crane control, including input shapers.
5) Create a REXYGEN-based HIL simulator for a typical crane
6) Analyze the possibility of implementation of a simulator control part running on a commercial hardware designed for control of real cranes.
Zásady pro vypracování
1) Analyze current trends in MBSE (model based system engineering) and especially the role of hardware-in-the-loop simulation both in terms of industrial application and possible enhancement of related education methods.
2) Compare the available technologies for creating HIL simulators in terms of price, performance and other factors.
3) Create a suitable dynamic model of an overhead crane with variable weight and rope length
4) Describe the principles of smart crane control, including input shapers.
5) Create a REXYGEN-based HIL simulator for a typical crane
6) Analyze the possibility of implementation of a simulator control part running on a commercial hardware designed for control of real cranes.
Seznam doporučené literatury
[1] Reitinger, J., Čech, M., Schlegel, M., Balda, P. New tools for teaching vibration damping concepts: ContLab.eu (2014) IFAC Proceedings Volumes (IFAC-PapersOnline), 19, pp. 10580-10585.
[2] Ästrom, K. J., Hägglund, T. "PID Controllers: Theory, Design, and Tuning," 2nd Edition, Research Triangle Park : ISA-The Instrumentation, Systems and Automation Society, 1995.
[3] Reitinger, J., Cech, M., Goubej, M. Advanced input shaping filter 3D virtual laboratory (2013) Proceedings of the 2013 International Conference on Process Control, PC 2013, art. no. 6581465, pp. 528-533.
[4] Schlegel, M., Goubej, M. Feature-based parametrization of input shaping filters with time delays (2010) IFAC Proceedings Volumes (IFAC-PapersOnline), 43 (2 PART 1), pp. 247-252.
[5] J. Sobota, M. Goubej, J. Konigsmarkova, M. Cech. Raspberry Pi-based HIL simulators for control education (2019). In Proceedings of IFAC ACE 2019. Philadelphia (UA).
Seznam doporučené literatury
[1] Reitinger, J., Čech, M., Schlegel, M., Balda, P. New tools for teaching vibration damping concepts: ContLab.eu (2014) IFAC Proceedings Volumes (IFAC-PapersOnline), 19, pp. 10580-10585.
[2] Ästrom, K. J., Hägglund, T. "PID Controllers: Theory, Design, and Tuning," 2nd Edition, Research Triangle Park : ISA-The Instrumentation, Systems and Automation Society, 1995.
[3] Reitinger, J., Cech, M., Goubej, M. Advanced input shaping filter 3D virtual laboratory (2013) Proceedings of the 2013 International Conference on Process Control, PC 2013, art. no. 6581465, pp. 528-533.
[4] Schlegel, M., Goubej, M. Feature-based parametrization of input shaping filters with time delays (2010) IFAC Proceedings Volumes (IFAC-PapersOnline), 43 (2 PART 1), pp. 247-252.
[5] J. Sobota, M. Goubej, J. Konigsmarkova, M. Cech. Raspberry Pi-based HIL simulators for control education (2019). In Proceedings of IFAC ACE 2019. Philadelphia (UA).