Varieties of transportation systems using mechatronic systems. The use of mechatronic systems in the automotive industry. Adaptive way to increase the vibration resistance of the lathe
The main advantages of mechatronic devices compared to traditional automation tools include:
Relatively low cost due to the high degree of integration, unification and standardization of all elements and interfaces;
High quality implementation of complex and accurate movements due to the use of intelligent control methods;
High reliability, durability and noise immunity;
Constructive compactness of modules (up to miniaturization and micromeshines),
Improved mass boiler and dynamic machine characteristics due to the simplification of kinematic chains;
The possibility of complexing functional modules into complex mechatronic systems and complexes for specific customer tasks.
The volume of world production of mechatronic devices increase annually, covering all new spheres. Today, mechatronic modules and systems are widely used in the following areas:
Machine-tooling and equipment for automation of technological processes;
Robotics (industrial and special);
Aviation, Space and Military Technology;
Automotive (for example, anti-lock brake systems, car stabilization systems and automatic parking);
Non-traditional vehicles (electric bicycles, cargo carts, electricollers, wheelchairs);
Office equipment (for example, copying and facsimile devices);
Elements of computing equipment (for example, printers, plotters, drives);
Medical equipment (rehabilitation, clinical, service);
Household appliances (washing, sewing, dishwashers and other cars);
Micromachines (for medicine, biotechnology, communications and telecommunications);
Control and measuring devices and machines;
Photo and video equipment;
Simulators for the preparation of pilots and operators;
Show industry (Sound and Light Systems).
Of course, this list can be expanded.
The rapid development of mechatronics in the 90s as a new scientific and technical direction is due to the three main factors:
New trends in world industrial development;
The development of the fundamental foundations and methodologies of mechatronics (basic scientific ideas, fundamentally new technical and technological solutions);
The activity of specialists in research and educational areas.
The modern stage of development of automated engineering in our country occurs in new economic realities, when there is a question about the technological viability of the country and the competitiveness of products.
The following trends in the key requirements of the global market in the area under consideration can be identified.
The need for the release and service of equipment in accordance with the International Quality Standards System Formulated in Standards ISO.series 9000 ;
Internationalization of the market of scientific and technical products and, as a result, the need for active introduction into the practice of forms and methods
International Engineering and Technology Transfer;
Increasing the role of small and medium-sized industrial enterprises in the economy due to their ability to quickly and flexible response to the changing market requirements;
The rapid development of computer systems and technologies, telecommunication facilities (in the UES countries in 2000, 60% of the growth of the cumulative national product occurred precisely through these industries); Direct consequence of this general trend is the intellectualization of mechanical movement management systems and technological functions of modern machines.
As the main classification feature in mechatronics, it is advisable to adopt the level of integration of the components of the elements. In accordance with this feature, it is possible to separate meatronic systems in levels or for generations, if we consider their appearance on the market with high-currency products, historically mechatronic modules of the first level are the association of only two source elements. A typical example of a first generation module can serve as a "gearbox", where the mechanical gearbox and the controlled motor are manufactured as a single functional element. Mechatronic systems based on these modules were widely used when creating various means of comprehensive automation of production (conveyors, conveyors, rotary tables, auxiliary manipulators).
Mechatronic second-level modules appeared in the 1980s due to the development of new electronic technologies, which allowed to create miniature sensors and electronic blocks to process their signals. The combining of drive modules with said elements led to the appearance of mechatronic motion modules, the composition of which fully complies with the above definition, when the integration of three devices of different physical nature was achieved: 1) mechanical, 2) electrical and 3) electronic. On the basis of the mechatronic modules of this class, 1) managed energy machines (turbines and generators), 2) machines and industrial robots with numeric software control.
The development of the third generation of mechatronic systems is due to the emergence of comparatively inexpensive microprocessors and controllers on the market on their base and is aimed at intelligentizing all processes occurring in a mechatronic system, primarily the process of managing the functional movements of machines and aggregates. At the same time, there is a development of new principles and technologies for the manufacture of high-precision and compact mechanical nodes, as well as new types of electric motors (primarily high-generable neclector and linear), feedback sensors and information. Synthesis of new 1) precision, 2) information and 3) measuring high-tech technologies gives the basis for the design and production of intelligent mechatronic modules and systems.
In the future, mechatronic machines and systems will be combined into mechatronic complexes based on uniform integration platforms. The goal of creating such complexes is to achieve a combination of high productivity and at the same time flexibility of the technical and technological environment due to the possibility of its reconfiguration, which will ensure, competitiveness and high quality products.
Modern enterprises that start developing and producing mechatronic products should solve the following main tasks in this regard:
The structural integration of units of mechanical, electronic and information profiles (which, as a rule, operated autonomously and dismissed) into uniform design and production groups;
Preparation of "mechatronic-oriented" engineers and managers capable of systemic integration and management of the work of narrow-profile specialists of various qualifications;
Integration of information technologies from various scientific and technical areas (mechanics, electronics, computer control) into a single toolkit for computer support for mechatronic tasks;
Standardization and unification of all elements used and processes in the design and production of MS.
The decision of these problems often requires overcoming the traditions of the traditions in the management and ambitions of middle managers who are accustomed to solve only their narrow-profile tasks. That is why medium and small enterprises that can easily and flexibly vary their structure, turn out to be more prepared for the transition to the production of mechatronic products.
Similar information.
Mechatronics arose as a complex science from the fusion of individual parts of mechanics and microelectronics. It can be defined as a science involving the analysis and synthesis of complex systems in which mechanical and electronic control devices are equally used.
All mechanical systems of cars in functional purpose are divided into three main groups:
- - engine control systems;
- - Transmission control systems and chassis;
- - Salon equipment management systems.
The engine control system is divided into gasoline management systems and diesel engine. By appointment, they are monofunctional and complex.
In monofunctional systems, the ECU gives signals only the injection system. Injection can be carried out constantly and impulses. With constant fuel supply, its number changes by changing the pressure in the fuel line, and with a pulse - due to the duration of the pulse and its frequency. For today, one of the most promising directions of application of mechanical systems is cars. If we consider the automotive industry, the introduction of such systems will allow to come to sufficient flexibility of production, it is better to capture fashion trends, faster to introduce advanced developments of scientists, designers, and thereby getting new quality for car buyers. The car itself, especially, the modern car is an object of close review from the design point of view. Modern use of the car requires high demand security requirements, due to all increasing motorization of countries and tightening regulations on environmental purity. Especially this is relevant for megalopolis. The answer to today's challenges of urbanism and designed to the designs of mobile tracking systems, controlling and corrective characteristics of the work of components and aggregates, reaching optimal indicators for ecology, safety, operational comfort of the car. The urgent need to set car engines with more complex and expensive fuel systems is largely due to the introduction of increasingly stringent requirements for the content of harmful substances in the exhaust gases, which, unfortunately, is just beginning to be worked out.
In complex systems, one electronic unit controls several subsystems: fuel injection, ignition, gas distribution phases, self-diagnosis, etc. The electronic control system of the diesel engine monitors the amount of injected fuel, the moment of starting the injection, the torch of the flare candle, etc. In the electronic transmission control system, the control object is mainly automatic transmission. Based on the signal sensor signals, the opening of the throttle and vehicle speed of the ECU chooses the optimal ratio transmissions that increases fuel economy and handling. The management of the chassis includes the management of motion processes, changes in the trajectory and braking of the car. They affect the suspension, steering and brake system, ensure the maintenance of the specified speed of movement. The control of the salon equipment is designed to increase the comfort and consumer value of the car. For this purpose, air conditioning, electronic instrument panel, multifuncio-molded information system, Compass, headlights, wiper with intermittent mode of operation, indicator of burned lamps, obstacle detection device when moving with reversal, anti-theft devices, communication equipment, central locking of door locks, glass lifts, seats with a variable position, security mode, etc.
Mechatronic modules are becoming more and more used in various transport systems.
A modern car as a whole is a mechatronic system that includes mechanics, electronics, various sensors, an on-board computer that tracks and regulates the activities of all car systems, informs the user and communicates from the user to all systems. The automotive industry at the present stage of its development is one of the most promising areas for the introduction of mechatronic systems due to increased demand and increasing motorization of the population, as well as due to the availability of competition between individual manufacturers.
If you classify a modern car on the principle of control, it refers to anthropomorphic devices, because His movement is controlled by a person. Already now we can say that in the foreseeable future, the automotive industry needs to be expecting the emergence of cars with the possibility of autonomous control, i.e. With an intelligent motion control system.
Tough competition in the automotive market forces specialists in this area to find new advanced technologies. Today, one of the main problems for developers is to create "smart" electronic devices capable of cutting the number of road accidents (accidents). The result of the work in this area was the creation of a car complex security system (skb), which is capable of automatically maintaining a specified distance, stop the machine during a red traffic light signal, warn the driver that it overcomes the rotation at speeds, higher than this is permissible to the laws of physics. Even shock sensors with a radio signal, which, when driving an obstacle or collision, causes an ambulance machine.
All these electronic devices prevent accidents are divided into two categories. The first includes appliances in the car, which are operating independently of any signals of external information sources (other cars, infrastructure). They process information coming from the onboard radar (radar). The second category is the system whose action is based on data obtained from sources of information located near the road, in particular from lighthouses that collect information about the road situation and transmit them through infrared rays into passing cars.
The skb combined the new generation of the devices listed above. It takes both radar signals and infrared beams of "thinking" beacons, and in addition to the main functions, it provides a non-stop and calm movement for the driver on unregulated crossings of roads and streets, limits the speed of movement on turns and in residential areas within the limits of installed speed limits. Like all autonomous systems, the skb requires that the car is equipped with an anti-lock brake system (ABS) and an automatic transmission.
The skb includes a laser rangefinder, constantly measuring the distance between the car and any obstacle in the go - moving or stationary. If the hit is probable, and the driver does not slow down the speed, the microprocessor gives the command to reset the pressure on the accelerator pedal, turn on the brakes. A small screen on the instrument panel flashes the danger warning. At the request of the driver, the on-board computer can establish a safe distance depending on the road surface - wet or dry.
The skb (Fig. 5.22) is capable of driving a car, focusing on the white lines of the road surface markup. But for this it is necessary that they are clear, since they are constantly "read" on board the camcorder. The image processing then determines the position of the machine relative to the lines, and the electronic system according to this affects the steering.
The onboard receivers of infrared beams of the skb act in the presence of transmitters placed through certain intervals along the roadway. Rays spread straightforwardly and for a short distance (about 120 m), and the data transmitted by the encoded signals cannot be drunk or distorted.
Fig. 5.22. Car complex safety system: 1 - receiver of infrared rays; 2 - Weather sensor (rain, humidity); 3 - the drive of the throttle valve system; 4 - computer; 5 - auxiliary electric valve in the brake drive; 6 - ABS; 7 - rangefinder; 8 - automatic transmission; 9 - car speed sensor; 10 - an auxiliary steering electric valve; 11 - accelerator sensor; 12 - steering sensor; 13 - signal table; 14 - computer electronic vision; 15 - television chamber; 16 - screen.
In fig. 5.23 Presents the Boch weather sensor. Depending on the model, the infrared LED is placed inwards and one - three photodetectors. LED emits an invisible beam under sharp angle To the surface of the windshield. If it is dry on the street, the entire light is reflected back and enters the photodetector (the optical system is so calculated). Since the beam is modulated by impulses, then the sensor does not react to foreign light. But if there are drops or a layer of water on the glass, the refractive conditions change, and part of the world goes into space. This is fixed by the sensor, and the controller calculates the appropriate operation mode of the wiper. Along the way, this device can close the electrical tape in the roof, lift the glass. The sensor has another 2 photodetectors, which are integrated into the common case with the weather sensor. The first is designed to automatically turn on the headlights, when it is felt or the car enters the tunnel. The second, switches the "Far" and "Middle" light. Whether these functions are involved depends on the specific car model.
Fig.5.23. Principle of Weather Sensor
Anti-lock brake systems (ABS), its necessary components - wheel speed sensors, electronic processor (control unit), servolap, hydraulic pump with electric drive and pressure battery. Some early ABS were "three-channel", i.e. Controlled the front brake mechanisms individually, but all rear brake mechanisms were distinguished at the beginning of blocking any of the rear wheels. It saved some cost and complication of the design, but gave a lower efficiency compared to a complete four-channel system in which each braking mechanism is managed individually.
ABS has a lot in common with the anti-pass system (PBS), whose action could be considered as an "ABS on the contrary", as the PBS works on the principle of detecting the moment of starting the rapid rotation of one of the wheels compared to another (the start of the start of the stroke) and supplying the signal to slowmation This wheel. Wheel Speed \u200b\u200bSensors can be general, and therefore the most effective way to prevent the test wheel slip by a decrease in its speed is to apply an instantaneous (and if necessary, repeated) brake action, the brake pulses can be obtained from the ABS valve block. In fact, if there is an ABS, it's all that is required to provide and PBS - plus some additional software and an additional control unit to reduce the engine torque or reduce the amount of fuel input, or directly interfere with the gas pedal control system .
In fig. 5.24 shows the scheme of the electronic system of the car: 1 - ignition relay; 2 - central switch; 3 - rechargeable battery; 4 - exhaust gas neutralizer; 5 - oxygen sensor; 6 - air filter; 7 - air flow sensor; 8 - diagnostic shoe; 9 - idle regulator; 10 - throttle position sensor; 11 - throttle nozzle; 12 - ignition module; 13 - phase sensor; 14 - nozzle; 15 - fuel pressure regulator; 16 - OH temperature sensor; 17 - Candle; 18 - Crankshaft position sensor; 19 - detonation sensor; 20 - fuel filter; 21 - controller; 22 - speed sensor; 23 - fuel pump; 24 - switching on the fuel pump; 25 - gas tank.
Fig. 5.24. Simplified injection system
One of component parts The skb is a airbag (see Fig. 5.25.), The elements of which are placed in different parts of the car. The inertial sensors in the bumper, the engine shield, in the racks or in the area of \u200b\u200bthe armrest (depending on the car model), in the event of an accident send a signal to an electronic control unit. In most modern skb, frontal sensors are calculated for the strength of the speed at a speed of 50 km / h. The side work is triggered with weaker blows. From the electronic control unit, the signal should be on the main module, which consists of a compactly laid cushion connected to a gas generator. The latter is a tablet with a diameter of about 10 cm and a thickness of about 1 cm with a crystalline azotgeneering substance. The electrical impulse ignites in the "tablet" of the pycologist or melting the wire, and the crystals at the rate of explosion turn into gas. The entire process described occurs very quickly. The "medium" pillow is filled in 25 ms. The surface of the European standard pillow rushes towards the chest and a person at a speed of about 200 km / h, and the American is about 300. Therefore, in machines equipped with a safety pillow, manufacturers strongly advise fastening and not sitting close to the steering wheel or torpedo. In the most "advanced" systems there are devices identifying the presence of a passenger or children's chair and, accordingly, either disconnecting or adjusting the degree of inflation.
Fig.5.25 Automotive Airbag:
1 - Stretten seat belt device; 2 - inflatable airbag; 3 - inflatable airbag; for the driver; 4 - control unit and central sensor; 5 - executive module; 6 - inertial sensors
In more detail with modern automotive MS, you can get acquainted in the manual.
In addition to ordinary cars, much attention is paid to the creation of light vehicles (LTS) with electric drive (sometimes they are called unconventional). The vehicle group includes electric bicycles, rollers, wheelchairs, electric vehicles with autonomous power sources. The development of such mechatronic systems is maintained by the mechanical engineering center "Mechatronics" in cooperation with a number of organizations. LTS are an alternative to transport with engines. internal combustion And currently used in environmentally friendly zones (medical and wellness, tourist, exhibition, park complexes), as well as in shopping and warehouses. Technical characteristics of the prototype of the electric bike:
Maximum speed 20 km / h,
Rated drive power of 160 W,
Rated rotational speed 160 rpm,
Maximum torque of 18 nm,
Engine weight 4.7 kg,
Battery 36V, 6 a * h,
Offline movement 20 km.
The basis for the creation of LTS are mechatronic modules of the type "Motor-Wheel" based on the basis, as a rule, high-generable electric motors.
Sea transport. MS are becoming more and more widely used to intensify the labor of the crews of marine and river vessels associated with automation and mechanization of basic technical means to which the main energy installation with serving systems and auxiliary mechanisms, the electric power system, and community systems, steering devices and engines are included.
Complex automatic vessel retention systems on a given trajectory (szu) or vessel intended for the work of the World Ocean, on a specified profile line (SUZP) refer to systems providing the third level of control automation. The use of such systems allows:
Increase the economic efficiency of sea transportation by the implementation of the best trajectory, the movement of the vessel, taking into account the navigation and hydrometeorological conditions of the navigation;
Increase the economic efficiency of oceanographic, hydrographic and marine exploration due to an increase in the accuracy of the deduction of the vessel on the specified profile line, expanding the range of wind-roll perturbations, under which the required quality of control is ensured, and increasing the work rate of the vessel;
Solve the tasks of the implementation of the optimal trajectory of the vessel movement when discrepancies with dangerous objects; Improve the safety of navigation near navigation hazards due to more accurate ship movement management.
Complex automatic motion control systems for a given program of geophysical studies (acud) are designed to automatically eliminate the vessel on a given profile line, automatic retention of a geological-geophysical vessel on the studied profile line, maneuvering when moving from one profile line to another. The system under consideration allows to improve the efficiency and quality of marine geophysical studies.
In marine conditions it is impossible to use conventional pre-exploration methods (search batch or detailed aerial photography), therefore the seismic method of geophysical studies received the most widespread (Fig. 5.26). Geophysical vessel 1 towing on cable-cable 2 Pneumatic gun 3, which is a source of seismic oscillations, seismic braid 4, on which receivers of reflected seismic oscillations are placed, and the terminal buoy 5. The bottom profiles are determined by registering the intensity of seismic oscillations reflected from the border layers of 6 different breed.
Fig.5.26. Scheme of geophysical studies.
To obtain reliable geophysical information, the vessel must be held on a given position relative to the bottom (profile line) with high accuracy, despite the low speed of movement (3-5 UZ) and the presence of towed devices of considerable length (up to 3 km) with limited mechanical strength.
Anzhutyts has developed a complexed MC, which ensures the hold of the vessel on a given trajectory. In fig. 5.27 presents the structural diagram of this system, which includes: Gyrocompass 1; Lag 2; devices of navigation complexes that determine the position of the vessel (two or more) 3; stealless 4; mini-computer 5 (5a - interface, 5b - central storage device, 5B - central processor block); reader Perflectors 6; Grafopostroiler 7; Display 8; Keyboard 9; Steering machine 10.
Using the system under consideration, you can automatically display the vessel to the programmed trajectory, which is set by the operator using the keyboard, which determines the geographical coordinates of turnpoints. In this system, regardless of the information coming from any one group of instruments of the traditional radio navigation complex or satellite communications devices, which determines the position of the vessel, the coordinates of the probable position of the vessel according to the data issued by the gyrocompace and the lag are calculated.
Fig.5.27. Structural scheme of the complexed MS hold the vessel on a given trajectory
The course management with the help of the system under consideration is carried out by the auto-rule, the input of which is received by information on the value of the specified course ψzad, formed by mini-computer, taking into account the error on the position of the vessel. The system is collected in the control panel. In the upper part of it, the display with the optimal image configuration authorities are placed. Below, on the inclined field of the console, is a steering wheel with control handles. On the horizontal field of the console is a keyboard, with which the programs in mini-computer are input. The switch is placed here, with which the control mode is selected. In the base part of the console there are mini-computer and interface. All peripheral equipment is placed on special stands or other consoles. The system under consideration can operate in three modes: "Course", "Monitor" and "Program". In the "Course" mode, the specified course is kept using the auto-power according to the testimony of the gyrocompass. The "monitor" mode is selected when the transition to the "program" mode is prepared when this mode is interrupted or when the transition to this mode is completed. The "Course" mode go when mini-computer malfunctions, power sources or a radio navigation complex are detected. In this mode, the autoruleva works independently of mini-computer. In the program mode, the course is controlled by the radio navigation instruments (position sensors) or gyrocompass.
Maintenance of the deduction system of the vessel on ZT is carried out by the operator from the console. The selection of a group of sensors to determine the position of the vessel is made by the operator on the recommendations shown on the display screen. At the bottom of the screen, a list of all allowed for this regime commands that can be entered using the keyboard. Random pressing any forbidden key is blocked by a computer.
Aviation technique. The successes achieved in the development of aviation and space technology on the one hand and the need to reduce the cost of target operations on the other, stimulated the development of a new type of equipment - remotely manned aircraft (DPL).
In fig. 5.28 Presented a block diagram of the DPL-Himat remote control system. The main component of the HIMAT remote piloting system is the ground remote control point. The DPL flight parameters come to the groundpoint over the radio communication line from the aircraft, are accepted and decoded by the telemetry processing station and are transmitted to the ground part of the computing system, as well as on the information indication instruments in the ground control station. In addition, from the side of the DPL, the picture of the external review is displayed using a television chamber. The television image, highlighted on the screen of the terrestrial workplace of the human operator, is used to control the aircraft during air maneuvers, sitting on landing and at the landing. The cabin of the ground-based remote control (operator's workplace) is equipped with devices that provide indication of flight information and the state of the equipment of the DPL complex, as well as means for controlling the aircraft. In particular, the operator's personnel has handles and pedals for controlling the aircraft on the roll and pitch, as well as the engine control knob. When the main control system fails, the control system commands occur by means of a special discrete command of the DPL operator.
Fig.5.28. Remote Piloting System Himat:
carrier B-52; 2 - backup control system on the TF-104G aircraft; 3 - Line of telemetry with land; 4 - DPL HIMAT; 5 - telemetry links with DPL; 5 - Ground Point of Distance Piloting
As an autonomous navigation system, providing the path numbering, the Doppler Travel Speed \u200b\u200band Demolition Angle (DPSS) are used. Such a navigation system is used in conjunction with the course system measuring the course of the vertical sensor that form the rolls and pitch signals, and the onboard computer that implements the path numbering algorithm. In the aggregate, these devices form the Doppler navigation system (see Fig. 5.29). To enhance the reliability and accuracy of measuring the current coordinates of the aircraft, the diss can be combined with speed meters
Fig.5.29. Doppler Navigation System Scheme
Miniaturization of electronic elements, the creation and serial release of special types of sensors and indicator devices that are reliably working in difficult conditions, as well as a sharp cheapening of microprocessors (including specially intended for cars) created conditions for the transformation of vehicles in the MS of a rather high level.
High-speed terrestrial transport on a magnetic suspension is a visual example of a modern mechatronic system. While the only commercial transport system of this kind was put into operation in China in September 2002 and connects Pudong International Airport with the center of Shanghai. The system was developed, manufactured and tested in Germany, after which the train cars were shipped to China. The guide path located on a high overpass has been manufactured in China. The train accels to a speed of 430 km / h and flies a path of 34 km long in 7 minutes (the maximum speed can reach 600 km / h). The train boils over the guide path, friction about the path is absent, and the main resistance to the movement has air. Therefore, the train is attached an aerodynamic form, the joints between the wagons are closed (Fig. 5.30).
In order, in the event of an emergency power off, the train did not fall into the guide path, it provides powerful batteries, whose energies are enough for a smooth stop of the train.
With the help of electromagnets, the distance between the train and the guide route (15 mm) is maintained with an accuracy of 2 mm, which makes it possible to completely eliminate the vibration of cars even on maximum speed. The number and parameters of supporting magnets is a commercial secret.
Fig. 5.30. Magnetic suspension train
A magnetic suspension transport system is fully controlled by a computer, since at such high speed a person does not have time to respond to emerging situations. The computer manages both acceleration-braking trains, taking into account the turns of the path, so passengers do not feel discomfort when accelerations arising.
The described transport system is characterized by high reliability and unprecedented clarity of the schedule of movement. Over the first three years of operation, over 8 million passengers were transported.
Today, the leaders in Maglev's technology (used in the West reduction from the words "magnetic levitation") are Japan and Germany. In Japan, Maglev put the world record of the rail speed - 581 km / h. But on the establishment of Records Japan has not yet advanced, trains run only on experimental lines in Yamanasi Prefecture, with a total length of about 19 km. In Germany, TRANSRAPID is engaged in the development of Maglev technology. Although in Germany itself, the commercial version of Maglava did not fit, the trains are operated on the test landfill in Emsland by Transrapid, which for the first time in the world successfully implemented the commercial version of Maglev in China.
As an example of already existing transportary mechatronic systems (TMS) with autonomous control, you can bring the car-robot car company and the laboratory of engine vision and intellectual system of the Parma University.
Four robot machines have done an unprecedented path of 13,000 kilometers from the Italian Parma to Shanghai for autonomous vehicles. This experiment was called up to become a hard test for the intellectual autonomous driving system of the TMS. Its test took place in urban traffic, for example, in Moscow.
Robots were built on the basis of minibuses (Fig. 5.31). They differed from ordinary machines not only with autonomous control, but also with a pure electrotherapy.
Fig. 5.31. Car Autonomous Management Vislab
On the roof of TMS, solar panels were located for nutrition of critical equipment: a robotic system, rotating the steering wheel and sprinkling on the pedal of gas and brakes and computer components of the machine. The rest of the energy was supplied by electric sockets in the course of the trip.
Each car robot was equipped with four laser scanners in front, two pairs of stereo chamber, looking forward and back, three cameras covering the 180-degree viewing sector in the front "hemisphere" and satellite navigation system, as well as a set of computers and programs that allow the machine to make solutions In certain situations.
Another example of a transport mechatronic system with autonomous control is a robotic electric car Robocar MEV-C of the Japanese enterprise ZMP (Fig. 5.32).
Fig.5.32. Robotized Electric Mobile Robocar MEV-C
The manufacturer positions this TMS as a car for further advanced developments. The structure of the autonomous control device includes the following components: stereo chamber, 9-axis wireless motion sensor, GPS module, temperature sensor and humidity, laser rangefinder, Bluetooth, Wi-Fi and 3G chips, as well as CAN protocol, which coordinates the joint operation of all components . The size of Robocar MEV-C is 2.3 x 1.0 x 1.6 m, it weighs 310 kg.
The modern representative of the transport mechatronic system is a transcuter belonging to the class of light vehicles with an electric drive.
Transcourtes are a new kind of transformable multifunctional ground vehicles of individual use with electric drive, mainly intended for persons with limited physical abilities (Fig. 5.33). The main distinguishing feature of the transcourte from other land vehicles is the possibility of passability on flight marches and the implementation of the principle of multifunctionality, and therefore transformability in a wide range.
Fig. 5.33. The appearance of one of the samples of the Kangaroo family of transcourt
The transcourt proper is based on a mechanical-wheel-wheel module. Functions and, accordingly, configurations provided by the transcourtes of the Kangaroo family, the following (Fig.5.34):
- "Scooter" - movement at high speed on a long base;
- "Chair" - maneuvering on a short base;
- "Balance" - movement standing in the mode of gyrostabilization on two wheels;
- "Compact vertical" - movement standing on three wheels in gyrostabilization mode;
- "Blurry" - overcoming the wobbrice approaching or sitting ( separate models have an additional function of "oblique wetting" - overcoming the cryptrical at an angle of up to 8 degrees);
- "Staircase up" - rise in the steps of the stairs to the front run, sitting or standing;
- "Staircase down" - descent on the steps of the ladder in the front run, sitting;
- "At the table" - low landing, legs on the floor.
Fig. 5.34. The main configurations of the transcourter on the example of one of the options for its execution
In the composition of the transcourt, an average of 10 compact high-generable electric drives with microprocessor control. All drives are single-type - DC valve engines controlled by signals from Hall sensors.
To control such devices, a multifunctional microprocessor control system (SU) with an on-board computer is used. The architecture of the transcuter control system is a two-level. Lower level - maintenance of directly drive itself, top level - consistent operation of actuators for a given program (algorithm), testing and controlling system and sensors; External interface - remote access. As a top-level controller ( on-board computer) ADVANTECH PCM-3350 is used, made in PC / 104 format. As a low-level controller - a specialized TMS320F2406 microcontroller of Texas Instruments to control electric motors. The total number of lower-level controllers responsible for the operation of individual blocks - 13: Ten drive controllers; The steering head controller is also responsible for indicating the displayed information on the display; the controller for determining the residual capacity of the battery; Battery charge controller and discharge. The exchange of data between the onboard computer of the transcourt and the peripheral controllers is supported by a common bus with a CAN interface, which allows you to minimize the number of conductors and achieve a real data rate of 1 Mbps.
Opening Computer Tasks: Electric Drive Management, Maintenance of commands from the steering head; Calculation and output to the indication of the residual charge of the battery; Decision of the trajectory problem for movement on the stairs; The ability to remote access. Through the on-board computer, the following individual programs are implemented:
Acceleration and brakes of a scooter with a controlled acceleration / deceleration, which is personally adapted for the user;
The program implementing the opening algorithm of the rear wheels when turning;
Longitudinal and transverse gyrostabilization;
Overcoming the wet up and down;
Movement on the stairs up and down
Adaptation to the dimensions of the steps;
Identification of ladder parameters;
Changes of the wheelbase (from 450 to 850 mm);
Monitoring of the scooter sensors, actuator control units, battery;
Emulations based on the testimony of parking radar sensors;
Remote access to managers, change settings over the Internet.
The transcourt has 54 sensors in its composition, allowing it to adapt to environment. Among them: Hall sensors embedded in valve electric motors; Absolute angle sensors that determine the position of the component parts of the transcourt; Resistive steering rotation sensor; Infrared distance sensor for parking radar; an inclinometer that allows you to determine the slope of the scooter when moving; accelerometer and angular velocity sensor that serve to control gyrostabilization; Radio frequency receiver for remote control; Resistive linear displacement sensor to determine the position of the chair relative to the frame; Shunts to measure the current of the engines and the residual capacity of the battery; potentiometric motion speed male; Tensometric weight sensor for monitoring the apparatus.
The total block diagram of SU is presented in Fig. 5.35.
Fig. 5.35. SU block diagram of the Kangaroo family
Legend:
RMC - absolute corner sensors, DX - Hall sensors; Bu - control unit; LCD - liquid crystal indicator; Μl - motor-wheel left; MKP - Motor-Wheel Right; BMS - power management system; LAN - port for external onboard computer connection for programming, settings, etc.; T - the brake is electromagnetic.
], Science and Technology, based on the synergistic combination of accurate mechanics with electronic, electrical and computer components, ensuring the design and production of high-quality new modules, systems and machines with intelligent control of their functional movements. The term "Mechatronics" (eng. "Mechatronics", it. "Mechatronik") was introduced by the Japanese company "Yaskawa Electric Corp. " In 1969 and registered as a trademark in 1972. Note that in the domestic technical literature in the 1950s. A formed term - "Mechanotrons" (electronic lamps with movable electrodes used as vibration sensors, etc.) was used. Mechatronic technologies include design, industrial, information and organizational and economic processes that provide a full life cycle of mechatronic products.
The subject and method of mechatronics
The main task of mechatronics as directions of modern science and technology is to create competitive control systems for moving various mechanical objects and intelligent machines that have qualitatively new features and properties. The method of mechatronics is (when constructing mechatronic systems) in system integration and use of knowledge from previously isolated scientific and engineering regions. These include precision mechanics, electrical engineering, hydraulics, pneumatics, computer science, microelectronics and computer control. Mechatronic systems are built by the synergistic integration of structural modules, technologies, energy and information processes, starting from the design stage and ending with production and operation.
In 1970-80 Three basic directions - the axes of the mechatronics (accurate mechanics, electronics and informatics) were integrated in pairs, forming three hybrid directions (in fig. 1 shows the side faces of the pyramid). This is an electromechanics (combining mechanical nodes with electrical products and electronic blocks), computer control systems (hardware combining electronic and control devices), as well as automated design systems (CAD) mechanical systems. Then - already at the junction of hybrid directions - a mechatronics occurs, the formation of which as a new scientific and technical direction begins with the 1990s.
Elements of mechatronic modules and machines have different physical nature (mechanical converters movements, engines, information and electronic blocks, control devices), which determines the interdisciplinary scientific and technical problems of mechatronics. Interdisciplinary tasks determine the content of educational programs to prepare and advance the qualifications of specialists who are focused on system integration of devices and processes in mechatronic systems.
Principles of construction and development trends
The development of mechatronics is the priority direction of modern science and technology throughout the world. In our country, mechatronic technologies as the basis for the construction of new generation robots are included in the number of critical technologies of the Russian Federation.
To the number of current requirements for mechatronic modules and new generation systems include: performing qualitatively new service and functional tasks; intellectual behavior in changing and uncertain external environments based on new methods for managing complex systems; ultrahigh speed to achieve a new level of productivity of technological complexes; high-precision movements in order to implement new precision technologies, up to micro and nanotechnology; Compactness and miniaturization of structures based on the use of micromems; Improving the efficiency of multi-riddled mechatronic systems based on new kinematic structures and structural layouts.
The construction of mechatronic modules and systems is based on the principles of parallel design (eng. - Concurrent Engineering), eliminating multistage transformations of energy and information, constructive combination of mechanical nodes with digital electronic blocks and controllers in uniform modules.
The key principle of design is the transition from complex mechanical devices to combined solutions based on close interaction of simpler mechanical elements with electronic, computer, information and intellectual components and technologies. Computer and intelligent devices give the mechatronic system flexibility, since they are easily reprogrammed under a new task, and they are able to optimize the properties of the system with changing and indefinite factors acting from the external environment. It is important to note that last years The price of such devices is constantly decreasing while expanding their functionality.
The development trends of mechatronics are associated with the emergence of new fundamental approaches and engineering methods for solving the tasks of the technical and technological integration of devices of various physical nature. The layout of a new generation of complex mechatronic systems is formed from intelligent modules ("Mechatronics cubes"), combining actuators and intelligent elements in one case. System Movement Management is carried out using information media to support solutions of mechatronic tasks and special software that implements computer and intelligent control methods.
The classification of mechatronic modules according to structural features is presented in Fig. 2.
Module of motion is a constructive and functionally independent electromechanical node, which includes mechanical and electrical (electrotechnical) parts, which can be used both the separat unit and in various combinations with other modules. The main difference of the motion module from the general industrial electric drive is the use of a motor shaft as one of the elements of the mechanical converter of motion. Examples of motion modules are a gear motor, a motor-wheel, a motor-drum, an electric stump.
Motor gearboxes are historically the first on the principle of their construction with mechatronic modules, which have become serially produced, and to date are widely used in drives of various machines and mechanisms. In the motor gearbox, the shaft is a constructive single element for the engine and the motion converter, which makes it possible to eliminate the traditional coupling, thus achieving compactness; At the same time, the number of connecting parts is significantly reduced, as well as the cost of installation, debugging and launch. In motor gearboxes, asynchronous motors with a short-circuited rotor and an adjustable transducer of the rotation frequency, single-phase motors and DC motors are most often used as electric motors. As motion converters, gear cylindrical and conical, worm, planetary, wave and screw transmissions are used. To protect against the action of sudden overloads, set torque limiters.
The mechatronic motion module is a constructively and functionally independent product, which includes a controlled engine, a mechanical and information device (Fig. 2). As follows from this definition, compared to the motion module, the information device is additionally integrated into the mechatronic motion module. The information device includes inverse signals sensors, as well as electronic blocks for signal processing. Examples of such sensors can serve as photo pulse sensors (encoders), optical rules, rotating transformers, sensors of forces and moments, etc.
An important step in the development of mechatronic motion modules was the development of the engine-worker type modules. Such structural modules have special meaning For technological mechatronic systems whose purpose is to implement the purposeful impact of the working body on the object of work. Mechatronic motion modules of the type "engine-working body" are widely used in the machines called the spindle motor.
Intelligent mechatronic module (IMM) is a constructively and functionally independent product, built by the synergistic integration of the motor, mechanical, information, electronic and control units.
Thus, compared with the mechanical modules of movement, the control and power electronic devices are additionally embedded in the design of IMM, which gives these modules intelligent properties (Fig. 2). Digital computing devices can be attributed to the group of such devices (microprocessors, signal processors, etc.), electronic power transducers, conjugation and communication devices.
The use of intellectual mechatronic modules gives mechatronic systems and complexes a number of fundamental advantages: immium's ability to perform complex movements independently, without accessing the upper control level, which increases the autonomy of modules, flexibility and vitality of mechatronic systems operating in changing and uncertain environmental conditions; simplifying communications between modules and a central control device (up to the transition to wireless communications), which allows to achieve increased noise immunity of the mechatronic system and its ability to quickly reconfiguration; improving the reliability and safety of mechatronic systems through computer diagnostics of faults and automatic protection in emergency and emergency operation modes; creation based on IMM distributed management systems using network methods, hardware and software platforms based on personal computers and appropriate software; the use of modern methods of control theory (adaptive, intellectual, optimal) directly at the execution level, which significantly improves the quality of management processes in specific implementations; intellectualization of power transducers that are part of IMM to implement directly in the mechatronic module of intelligent motion control functions, protection of the module in emergency modes and malfunction diagnostics; The intellectualization of sensors for mechatronic modules allows you to achieve higher measurement accuracy, programmatically software, in the sensory module, noise filtering, calibration, linearization of input / output, compensation of cross-bonds, hysteresis and zero drift.
Mechatronic systems
Mechatronic systems and modules have entered both professional activities and in the daily life of a modern person. Today, they are widely used in a wide variety of areas: automotive industry (automatic gearboxes, anti-lock brake devices, motor-wheel drive modules, automatic parking systems); Industrial and service robotics (mobile, medical, home and other robots); Computer peripheral devices and office equipment: printers, scanners, CD drives, copiers and fax machines; Production, technological and measuring equipment; Home appliances: washing, sewing, dishwashers and autonomous vacuum cleaners; Medical systems (for example, equipment for robotic-assisted surgery, strollers and prostheses for disabled) and sports gym; Aviation, Space and Military Technology; microsystems for medicine and biotechnology; elevator and storage equipment, automatic doors in hotels of airports, metro and trains cars; transport devices (electric vehicles, electric bikes, wheelchairs); photo and video equipment (video disc players, video camera focus devices); Moving devices for show industry.
The choice of the kinematic structure is the most important task in the conceptual design of the new generation machines. The effectiveness of its solution largely determines the main technical characteristics of the system, its dynamic, high-speed and accuracy parameters.
It was the mechatronics that gave new ideas and methods for the design of moving systems with qualitatively new properties. An effective example of such a solution was the creation of machines with parallel kinematics (IPC) (Fig. 3).
The basis of their constructive scheme is usually a Gew Stuart platform (a variety of parallel manipulator, which has 6 degrees of freedom; octahedral layout of racks). The machine consists of a fixed base and a movable platform, which are interconnected by several rods with a controlled length. The rods are connected to the base and platform by kinematic pairs, which have, respectively, two and three degrees of mobility. On the mobile platform is installed for the working body (for example, a tool or measuring head). Programmatically adjusting the lengths of the rods using linear movement drives, you can control the movements and orientation of the mobile platform and the working body in space. For universal machines, where the movement of the working body is required as a solid body for six degrees of freedom, it is necessary to have six rods. In world literature, such machines are called "hexapods" (from Greek. Ἔ ξ - six).
The main advantages of machines with parallel kinematics are: high accuracy of the performance of movements; High speeds and acceleration of the working body; The absence of traditional guides and stannes (drive mechanisms are used as carrier elements), hence and improved mass-duct parameters, and low material consumption; High degree of unification of mechatronic nodes, providing manufacturability of manufacturing and assembling machine and constructive flexibility.
Elevated accuracy indicators of the IPC are due to the following key factors:
in hexapods, in contrast to kinematic schemes with a sequential chain of units, no superposition (overlay) of the positioning errors in the transition from the base to the worker;
the rod mechanisms have high rigidity, as the rods are not susceptible to bending moments and work only on stretching compression;
precision feedback sensors and measuring systems are used (for example, laser), and computer methods for correcting the displacements of the working body are used.
Due to the increased accuracy, the IPC can be used not only as processing equipment, but also as measuring machines. High rigidity of the IPC allows them to apply them on power technological operations. So, in fig. 4 shows an example of hexapode performing bending operations in the composition of the technological complex "Hexabend" for the production of complex profiles and pipes.
Computer and intelligent control in mechatronics
The use of computer and microcontrollers that implement computer control of a variety of objects is a characteristic feature of mechatronic devices and systems. Signals from a variety of sensors that carry information on the status of the components of the mechatronic system and attached to this system are applied to the control computer. The computer processes information in accordance with the digital control algorithms embedded in it and generates control effects on the actuators of the system.
The computer is given a leading role in the mechatronic system, since computer control makes it possible to achieve high accuracy and performance, implement complex and efficient control algorithms that take into account the nonlinear characteristics of control objects, changes in their parameters and the influence of external factors. Due to this, mechatronic systems acquire new qualities with increasing durability and reduced dimensions, mass and value of such systems. Achieving a new, higher level of system quality due to the possibility of implementing highly efficient and complex business management laws allows me to talk about mechatronics as a computer paradigm of modern development of technical cybernetics.
A characteristic example of a mechatronic system with computer control is a precision tracking drive based on a contactless multiphase AC electrical machine with vector control. The presence of a group of sensors, including the high-precision motor shaft position sensor, digital methods of processing information, computer implementation of the laws of management, transformations based on the use of a mathematical model of an electric machine, and a high-speed controller allows you to build a precision high-speed drive, which has a service life of up to 30-50 thousand hours and more.
Computer control is very effective in constructing multi-rigid nonlinear mechatronic systems. In this case, the computer analyzes data on the state of all components and external influences, produces computation and forms control influences on the executive components of the system, taking into account the characteristics of its mathematical model. As a result, high quality management of the agreed multi-reinforced movement is achieved, for example, the working body of the mechatronic technological machine or a mobile robot.
Intellectual control is played a special role in mechatronics, which is a higher level of development of computer management and implements various artificial intelligence technologies. They provide an opportunity to the mechatronic system to reproduce in one way or another human intellectual abilities and on this basis make decisions on rational actions to achieve the goal of management. The most effective technologies of intellectual control in mechatronics are technologies flaring logic, artificial neural networks and expert systems.
The use of intellectual control makes it possible to ensure high efficiency of the functioning of mechatronic systems in the absence of a detailed mathematical model of the control object, under the action of various indefinite factors and at the risk of emergence of unexpected situations in the system.
The advantage of the intellectual control of mechatronic systems is that it is often not necessary to build such systems that their detailed mathematical model and knowledge of the laws of the change of external influences acting on them are not required, and the Office is based on the experience of action of highly qualified expert specialists.
The volume of world production of mechatronic devices increase annually, covering all new spheres. Today, mechatronic modules and systems are widely used in the following areas:
Standulating and equipment for automation of technological
processes;
Robotics (industrial and special);
Aviation, Space and Military Technology;
Automotive construction (for example, anti-lock brake systems,
system stabilization of the movement of the car and automatic parking);
Unconventional vehicles (electric bicycles, cargo
trolleys, electric crafts, wheelchairs);
Office equipment (for example, copying and facsimile devices);
Elements of computing equipment (for example, printers, plotters,
drives);
Medical equipment (rehabilitation, clinical, service);
Household appliances (washing, sewing, dishwashers and other cars);
Micromestins (for medicine, biotechnology, funds
telecommunications);
Control and measuring devices and machines;
Photo and video equipment;
Simulators for the preparation of pilots and operators;
Show industry (Sound and Light Systems).
List of links
1.
Yu. V. Parajev "Basics of Mechatronics" Tutorial. Moscow. - 2000. 104 p.
2.
http://ru.wikipedia.org/wiki/Mehathronics
3.
http://mau.ejournal.ru/
4.
http://mechatronica-journal.stankin.ru/
Analysis of the structure of mechatronic systems of membrane modules
Tutorial
Under the discipline "Design of mechatronic systems"
specialty 220401.65
"Mechatronics"
g.O. Tolyatti 2010.
Krasnov S.V., Lysenko I.V. Design of mechatronic systems. Part 2. Designing electromechanical modules of mechatronic systems
Annotation. The training manual includes information on the composition of the mechatronic system, the location of the electromechanical modules in the mechatronic systems, the structure of electromechanical modules, their types and features, includes the stages and methods of designing mechatronic systems. Criteria for calculating the load characteristics of modules, criteria for selecting drives, etc.
1 Analysis of the structure of mechatronic systems of mechatronic modules 5
1.1 Analysis of the framework of the mechatronic system 5
1.2 Analysis of equipment drives of mechatronic modules 12
1.3 Analysis and classification of electrical engines 15
1.4 Analysis of the structure of control systems of drives 20
1.5 Technologies for generating a control signal. PWM Modulation and PID Regulation 28
1.6 Analysis of drives and systems of numerical control of machines 33
1.7 Energy and output Mechanical transducers of mechanical mechanics 39
1.8 Sensors feedback drives of mechatronic modules 44
2 Basic concepts and methodologies for designing mechatronic systems (MS) 48
2.1 Basic principles of design of mechatronic systems 48
2.2 Description of the design stages of MS 60
2.3 Production (implementation) MS 79
2.4 Testing MS 79
2.5 Quality Assessment MS 83
2.6 Documentation to MS 86
2.7 Economic efficiency MS 87
2.8 Development of measures to ensure safe working conditions with electromechanical modules 88
3. Methods for calculating parameters and design of mechatronic modules 91
3.1 Functional modeling of the process of design of the mechatronic module 91
3.2 Stages of design of the mechatronic module 91
3.3 Analysis of criteria for selecting engine mechanics 91
3.4 Analysis of the main mathematical apparatus of the calculation of drives 98
3.5 Calculation of the required power and the choice of ED feed 101
3.6 DC Motor Management on Regulation 110
3.7 Description of modern hardware and software solutions control of actuating elements of machines 121
List of sources and literature 135
Mechatronics studies the synergistic unification of the accurate mechanics with electronic, electrical and computer components in order to design and produce qualitatively new modules, systems, machinery and machine complex with intelligent controls by their functional movements.
The mechatronic system is a set of mechatronic modules (computer kernel, sensor information devices, electromechanical (engine drives), mechanical (actuating elements - cutters, robot hands, etc.), software (specially control programs, systemic - operating systems and Wednesdays, drivers).
The mechatronic module is a separate unit of the mechatronic system, a set of hardware and software that carry out the movement of one or more executive bodies.
Integrated mechatronic elements are selected by the developer at the design stage, and then the necessary engineering and technological support is provided.
The methodological basis for the development of MS is methods of parallel design, that is, simultaneous and interconnected during the synthesis of all components of the system. Basic objects are mechatronic modules that perform movement, as a rule, by one coordinate. In mechatronic systems to ensure high quality of the implementation of complex and accurate movements, the methods of intellectual control are used (new ideas in theory of management, modern computers' apparatus).
The traditional mechatronic machine includes the following main components:
Mechanical devices, the final link of which is a worker;
A block of drives, including power transducers and power engines;
Computer control devices, the level for which is a person operator, or another computer included in the computer network;
Sensory devices designed to transmit information on the actual state of the machine and the mode of the mechanical system.
Thus, the presence of three mandatory parts: electromechanical, electronic, computer, related energy and information flows is the primary feature of a distinguished mechatronic system.
Thus, for the physical implementation of the mechatronic system, 4 main functional blocks are theoretically necessary, which are depicted in Figure 1.1.
Figure 1.1 - flowchart of the mechatronic system
If work is based on hydraulic, pneumatic or combined processes, then appropriate converters and feedback sensors are necessary.
Mechatronics is a scientific and technical discipline that studies the construction of electromechanical systems of a new generation, which have fundamentally new qualities and, often, record parameters. Usually, the mechatronic system is an union of the actual electromechanical components with the latest power electronics, which are controlled by various microcontrollers, PCs or other computing devices. At the same time, the system in a truly mechatronic approach, despite the use of standard components, is built as many as possible, the constructors try to combine all parts of the system together without using unnecessary interfaces between modules. In particular, applying ADC built directly into microcontrollers, intelligent power transducers, etc. This gives a reduction in bulk-size indicators, improving the reliability of the system and other advantages. Any system that controls the drive group can be considered mechatronic. In particular, if it controls the system of jet engines of the spacecraft.
Figure 1.2 - composition of the mechatronic system
Sometimes the system contains fundamentally new on the design point of view of nodes, such as electromagnetic suspensions that replace conventional bearing nodes.
Consider a generalized structure of machines with computer control oriented to automated engineering tasks.
The external environment for the class machines under consideration is a technological environment that contains various main and auxiliary equipment, technological equipment and work objects. When performing a mechatronic system of specified functional movement, work objects have perturbing effects on the working body. Examples of such impacts can serve as forces for operations of machining, contact forces and moments of assembly, the strength of the fluid jet reaction with hydraulic cutting operation.
External environments can be enlarged to divide into two main classes: deterministic and non-deterministic. The deterministic is the media for which the parameters of the disturbing effects and the characteristics of objects of work can be predetermined with the degree of accuracy necessary for the design of the MS. Some environments are undisposed by nature (for example, extreme environments: underwater, underground, etc.). The characteristics of technological media are usually determined using analytical and experimental studies and methods of computer simulation. For example, a series of experiments on special research plants are carried out to evaluate cutting forces during mechanical processing, the parameters of vibrational effects are measured on vibrating stages, followed by the formation of mathematical and computer models of disturbing effects based on experimental data.
However, too complicated and expensive equipment and measuring technologies are often required for the organization and conduct of such studies. So for a preliminary estimate of the power influences on the working body, with the operation of robotic removal of the supply with cast products, it is necessary to measure the actual shape and dimensions of each workpiece.
Figure 1.3 - Generalized Scheme of the Mechatronic System with Computer Control Movement
In such cases, it is advisable to apply adaptive management methods that allow you to automatically adjust the law of the MS movement directly during the operation.
The composition of the traditional machine includes the following main components: a mechanical device, the final link of which is a worker; Block of drives, including power transducers and actuators; computer control device, the upper level for which is the operator's person, or another computer, which is included in the computer network; Sensors intended for transmission to a device for controlling information about the actual status of the machine blocks and MC movement.
Thus, the presence of three mandatory parts is mechanical (more precisely electromechanical), electronic and computer connected by energy and information flows, is a primary feature that distinguishes mechatronic systems.
The electromechanical part includes mechanical links and transmissions, a working body, electric motors, sensors and additional electrical elements (brakes, couplings). The mechanical device is designed to convert links to the desired movement of the working body. The electronic part consists of microelectronic devices, power converters and electronics of measuring chains. Sensors are designed to collect data on the actual state of the external environment and work objects, mechanical device and the drive block with subsequent primary processing and transferring this information to the computer control device (CU). The process of the mechatronic system usually includes a top-level computer and motion control controllers.
The computer control device performs the following main functions:
Control of the process of mechanical movement of the mechatronic module or multidimensional system in real time with the processing of sensory information;
The organization of MS functional movements, which involves coordinating the mechanical movement of MS and related external processes. As a rule, to implement the function of control of external processes, discrete inputs / device outputs are used;
Interaction with a person-operator through a man-machine interface in autonomous programming modes (OFF-Line) and directly during the MS movement (ON-LINE mode);
Organization of data exchange with peripheral devices, sensors and other system devices.
The task of the mechatronic system is to convert input information coming from the top control level to a targeted mechanical movement with control based on feedback principle. It is characteristic that electrical energy (less than hydraulic or pneumatic) is used in modern systems as an intermediate energy form.
The essence of a mechatronic approach to design is integrating into a single functional module of two or more elements possible even different physical nature. In other words, at the design stage of the traditional structure of the machine, it is excluded as a separatic device of at least one interface while maintaining the physical conversion essence performed by this module.
In the ideal version of the version of the mechatronic module, receiving information about the management goal, will perform with the desired quality indicators a given functional movement. The hardware association of elements into uniform structural modules must be accompanied by the development of integrated software. MS software should provide a direct transition from the plan of the system through its mathematical modeling to the functional movement in real time.
The use of a mechatronic approach when creating computer control machines determines their main advantages compared to traditional automation tools:
Relatively low cost due to the high degree of integration, unification and standardization of all elements and interfaces;
High quality implementation of complex and accurate movements due to the use of intelligent control methods;
High reliability, durability and noise immunity;
Constructive compactness of modules (up to miniaturization in micromeshines),
Improved mass boiler and dynamic machine characteristics due to the simplification of kinematic chains;
The possibility of complexing functional modules into complex systems and complexes for specific customer tasks.
The classification of actuators of the mechanisms of the mechatronic system is shown in Figure 1.4.
Figure 1.4 - Classification of the mechanical system drives
Figure 1.5 shows the circuit of the electrometricon node based on the drive.
Figure 1.5 - Scheme of an electrometricon node
In various fields of technology, actuators performing power functions in a variety of objects management systems are widely distributed. Automation of technological processes and industries, in particular, in mechanical engineering is impossible without the use of various drives, which include: actuators determined by technological process, Engines and engine control system. In the drives of the MS control systems (technological machines, machine machines, etc.), actuator engines are used in physical effects. Realization of such physical effects as magnetism (electric motors), gravity in the form of conversion of hydraulic and air flow into mechanical movement, expansion of the medium (internal combustion engines, jet, steam, etc.); Electrolysis (capacitive engines) together with the latest achievements in the field of microprocessor equipment allows you to create modern drive systems (PS) with improved technical characteristics. The connection of the power parameters of the drive (torque, force) with kinematic parameters (the angular velocity of the output shaft, the velocity of linear movement of the rod) is determined by the mechanical characteristics of the electro-, hydro, pneumatic and other drives, in the aggregate or separately decisive movement problems (worker, idling) mechanical part of MS (technological equipment). At the same time, if regulation of the output parameters of the machine (power, high-speed, energy), then the mechanical characteristics of the engines (drives) should be appropriately modified as a result of controlling control devices, for example, the level of supply voltage, current, pressure, fluid or gas flow rate.
Easy to form mechanical movements directly from electrical energy in drive systems with electric engine. In EMC electromechanical systems, it predetermines a number of advantages of such a drive in front of hydraulic and pneumatic drives. Currently, the electric motors of the direct and alternating current are manufactured by manufacturers from the tenths of Watt to dozens of megawatts, which makes it possible to ensure the demand for them (at the required power) both for use in industry and in many types of transport, in everyday life.
MS hydraulic drives (technological equipment, etc.) in comparison with electric drives are very widely used in transport, mountainous, construction, road, road, land, land and agricultural machinery, lifting and transport mechanisms, aircraft and underwater vehicles. They have a significant advantage over an electromechanical drive where significant workloads are required for small dimensions, for example, brake systems or automatic transmission of cars, rocket and space technology. The wide applicability of hydraulic drives is due to the fact that the intensity of the working medium in them is significantly larger than the strength of the working medium in electric motors and in industrial pneumatic drives. In real hydraulic drives, the working medium strength in the direction of transmission is 6-100 MPa with flexible control by regulating fluid flow by hydraulic devices that have different controls, including electronic. Compactness and small inertia of the hydraulic drive provide a slight and rapid change in the direction of movement to them, and the use of electronic control equipment provides acceptable transient processes and a given stabilization of output parameters.
To automate the MS control (various technological equipment, machine guns, etc., pneumatic actuators based on pneumatic motors for the implementation of both translational and rotational movements are widely used. However, due to a significant difference in the properties of the working medium of pneumatic and hydraulic drivers, their technical characteristics differ due to a significant compressibility of gases in comparison with the compressibility of the drip fluid. With ease of design, good economic indicators and sufficient reliability, but low adjusting properties, pneumatic actuators cannot be used in positional and contour modes of operation, which somewhat reduces the attractiveness of their use in MS (technical systems of the vehicle).
Determine the most acceptable type of energy in the drive with possibly the achievable efficiency of using it in the process of operation of technological or equipment of another assignment task quite complicated and can have several solutions. First of all, each drive must satisfy its official purpose, necessary power and kinematic characteristics. Determining factors when reaching the required power and kinematic characteristics, ergonomic indicators of the drive being developed can be: drive speed, positioning accuracy, and quality control, mass limits and overall sizes, drive location in the overall equipment layout. The final decision in comparability of the determining factors is made according to the results of the economic comparison of various options for the selected type of actuat on the starting and operational costs for its design, manufacturing and operation.
Table 1.1 - Classification of electric motors
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