Dynamic Systems and Control. Laboratory Exercises

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Introduction 7

1 Exercise L1: PC sequential control 9

1.1 Introduction 9

1.1.1 State machines 11

1.1.2 Mooremachine 12

1.1.3 Mealymachine 12

1.2 Example:Cipherlock 13

1.2.1 Moore machine for acipher lock 14

1.2.2 Edge detection 15

1.2.3 Time delays 16

1.2.4 Timer TON 16

1.2.5 Mealy machine for the cipher lock after corrections 17

1.3 Visual Studio2019 19

1.3.1 Main view 19

1.3.2 Running and debugging a program 19

1.4 Program implementation 21

1.4.1 Moore machineinC++ 21

1.4.2 Mealy machineinC++ 26

1.4.3 Communication with processes 26

1.4.4 Connection with processes 28

1.5 Implementation of the exercise 30

2 Exercise L2: PLC sequential control 31

2.1 Introduction 31

2.2 PLC programing languages 32

2.3 Example ST Language program: cipher lock 35

2.4 Description of GX Works3 software 39

2.4.1 Creating a new project 39

2.4.2 Types of available programs 41

2.4.3 Variables and labels 43

2.4.4 Code compilation 45

2.4.5 Diagnostics, monitoring of program operation 46

2.5 Implementation of the exercise 48

3 Exercise L3: HMI and SCADA systems 49

3.1 Introduction 49

3.2 Description of the control system 51

3.3 Implementation of SCADA MAPS visualization 52

3.3.1 Starting SCADA MAPS 52

3.3.2 Agents 53

3.3.3 Behaviors 60

3.3.4 Configuration of spiders 63

3.4 Implementation of the exercise 68

4 Exercise L4: PID control 70

4.1 Introduction 70

4.2 PID controller tuning with SCADA MAPS 81

4.3 Implementation of the exercise 84

5 Exercise L5: Servomechanism 86

5.1 Introduction 86

5.1.1 Structure of the servomechanism 88

5.1.2 The structure of the frequency inverter 93

5.1.3 Safety in working with a laboratory stand 97

5.2 Control of the frequency inverter 99

5.2.1 Task: Setting the inwerter parameters 99

5.2.2 Task: Open loop scalar control – Speed setting with analog signal . 99

5.2.3 Task: Closed loop scalar control – position setting 103

5.2.4 Task: Scalar control – execution of homing 106

5.3 MR Configurator2: Basic servo configuration 107

5.3.1 Basic amplifier parameters 110

5.3.2 Basic amplifier diagnostics 112

5.4 MR Configurator2: Basic tuning of the servo motor 112

5.4.1 Basic tuning of the servo motor: parameter preparation 112

5.4.2 Task: Tuning the dynamic response of the servo system 118

5.5 Motion Control: Analog and Digital Interface 130

5.5.1 Task: Control in speed mode 131

5.5.2 Task: Position control mode 139

5.6 Motion Control: Ethernet in terface 148

5.6.1 Task: Ethernet interface – amplifier parameterisation 148

5.6.2 Task: Ethernet interface – PLC configuration 149

5.6.3 Task: Ethernet interface – communication with servo 154

5.6.4 Task: Ethernet interface – servo homing 156

5.6.5 Task: Ethernet interface – speed control 156

5.6.6 Task: Ethernet interface – position control 158

5.7 Task: Synchronised knife application 158

5.8 Implementation of the exercise 161

6 Laboratory workstations and processes 162

6.1 Workstation without a motor 162

6.2 Workstation with a motor 164

6.3 Sorting line 166

6.4 Assembly line 168

6.5 Production line 170

6.6 Grippe rarm 172

6.7 Punchin gmachine 174

 

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