Design and implementation of robotic control for industrial applications
- Authors: Will, Desmond Jeffrey
- Date: 2004
- Subjects: Robotics
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10819 , http://hdl.handle.net/10948/213 , Robotics
- Description: Background: With the pressing need for increased productivity and delivery of end products of uniform quality, industry is turning more and more to computer-based automation. At the present time, most of industrial automated manufacturing is carried out by specialpurpose machines, designed to perform specific functions in a manufacturing process. The inflexibility and generally high cost of these machines often referred to as hard automation systems, have led to a broad-based interest in the use of robots capable of performing a variety of manufacturing functions in a more flexible working environment and at lower production costs. A robot is a reprogrammable general-purpose manipulator with external sensors that can perform various assembly tasks. A robot may possess intelligence, which is normally due to computer algorithms associated with its controls and sensing systems. Industrial robots are general-purpose, computer-controlled manipulators consisting of several rigid links connected in series by revolute or prismatic joints. Most of today’s industrial robots, though controlled by mini and microcomputers are basically simple positional machines. They execute a given task by playing back a prerecorded or preprogrammed sequence of motion that has been previously guided or taught by the hand-held control teach box. Moreover, these robots are equipped with little or no external sensors for obtaining the information vital to its working environment. As a result robots are used mainly for relatively simple, repetitive tasks. More research effort has been directed in sensory feedback systems, which has resulted in improving the overall performance of the manipulator system. An example of a sensory feedback system would be: a vision Charge-Coupled Device (CCD) system. This can be utilized to manipulate the robot position dependant on the surrounding robot environment (various object profile sizes). This vision system can only be used within the robot movement envelope
- Full Text:
- Date Issued: 2004
- Authors: Will, Desmond Jeffrey
- Date: 2004
- Subjects: Robotics
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10819 , http://hdl.handle.net/10948/213 , Robotics
- Description: Background: With the pressing need for increased productivity and delivery of end products of uniform quality, industry is turning more and more to computer-based automation. At the present time, most of industrial automated manufacturing is carried out by specialpurpose machines, designed to perform specific functions in a manufacturing process. The inflexibility and generally high cost of these machines often referred to as hard automation systems, have led to a broad-based interest in the use of robots capable of performing a variety of manufacturing functions in a more flexible working environment and at lower production costs. A robot is a reprogrammable general-purpose manipulator with external sensors that can perform various assembly tasks. A robot may possess intelligence, which is normally due to computer algorithms associated with its controls and sensing systems. Industrial robots are general-purpose, computer-controlled manipulators consisting of several rigid links connected in series by revolute or prismatic joints. Most of today’s industrial robots, though controlled by mini and microcomputers are basically simple positional machines. They execute a given task by playing back a prerecorded or preprogrammed sequence of motion that has been previously guided or taught by the hand-held control teach box. Moreover, these robots are equipped with little or no external sensors for obtaining the information vital to its working environment. As a result robots are used mainly for relatively simple, repetitive tasks. More research effort has been directed in sensory feedback systems, which has resulted in improving the overall performance of the manipulator system. An example of a sensory feedback system would be: a vision Charge-Coupled Device (CCD) system. This can be utilized to manipulate the robot position dependant on the surrounding robot environment (various object profile sizes). This vision system can only be used within the robot movement envelope
- Full Text:
- Date Issued: 2004
Design and development of a remote reconfigurable internet embedded I/O controller
- Authors: Phillips, Grant
- Date: 2003
- Subjects: Embedded computer systems -- Design and construction , Computer input-output equipment , Programmable controllers , Electronic controllers -- Design and construction
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10817 , http://hdl.handle.net/10948/116 , Embedded computer systems -- Design and construction , Computer input-output equipment , Programmable controllers , Electronic controllers -- Design and construction
- Description: The use of embedded Internet systems is growing rapidly in the manufacturing sector. These systems allow the monitoring and controlling of plant machinery and manufactured items from a remote location via a standard Web interface. In a manufacturing environment, it is inevitable that long running processes will require support for dynamic reconfiguration because, for example, machines may fail, services may be moved or withdrawn and user requirements may change. In such an environment it is essential that the operation and architecture of such processes can be modified to reflect such changes. This research project will present methods and ideas for establishing a reconfigurable remote system by using standard 8-bit microcontrollers and reconfigurable hardware. It will allow a manufacturing process to be modified and changed within minutes without even having to be physically present at the location where the process is running.
- Full Text:
- Date Issued: 2003
- Authors: Phillips, Grant
- Date: 2003
- Subjects: Embedded computer systems -- Design and construction , Computer input-output equipment , Programmable controllers , Electronic controllers -- Design and construction
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10817 , http://hdl.handle.net/10948/116 , Embedded computer systems -- Design and construction , Computer input-output equipment , Programmable controllers , Electronic controllers -- Design and construction
- Description: The use of embedded Internet systems is growing rapidly in the manufacturing sector. These systems allow the monitoring and controlling of plant machinery and manufactured items from a remote location via a standard Web interface. In a manufacturing environment, it is inevitable that long running processes will require support for dynamic reconfiguration because, for example, machines may fail, services may be moved or withdrawn and user requirements may change. In such an environment it is essential that the operation and architecture of such processes can be modified to reflect such changes. This research project will present methods and ideas for establishing a reconfigurable remote system by using standard 8-bit microcontrollers and reconfigurable hardware. It will allow a manufacturing process to be modified and changed within minutes without even having to be physically present at the location where the process is running.
- Full Text:
- Date Issued: 2003
Hybrid field generator controller for optimised perfomance
- Authors: Moleli, Christopher Teboho
- Date: 2003
- Subjects: Hybrid power systems , Wind turbines , Electric power production
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10818 , http://hdl.handle.net/10948/236 , Hybrid power systems , Wind turbines , Electric power production
- Description: Battery charging wind turbines like, Hybrid Field Generator, have become more popular in the growing renewable energy market. With wind energy, voltage and current control is generally provided by means of power electronics. The paper describes the analytical investigation in to control aspects of a hybrid field generator controller for optimized performance. The project objective is about maintaining the generated voltage at 28V through out a generator speed range, between 149 rpm and 598 rpm. The over voltage load, known as dump load, is connected to the control circuit to reduce stress on the bypass transistor for speeds above 598 rpm. Maintaining a stable voltage through out the speed range, between 149rpm and 598rpm, is achieved by employing power electronics techniques. This is done by using power converters and inverters to vary the generator armature excitation levels hence varying its air gap flux density. All these take place during each of the three modes of generator operation, which are: buck, boost and permanent magnet modes. Although the generator controller is power electronics based, it also uses software to optimize its performance. In this case, a PIC16F877 microcontroller development system has been used to test the controller function blocks.
- Full Text:
- Date Issued: 2003
- Authors: Moleli, Christopher Teboho
- Date: 2003
- Subjects: Hybrid power systems , Wind turbines , Electric power production
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10818 , http://hdl.handle.net/10948/236 , Hybrid power systems , Wind turbines , Electric power production
- Description: Battery charging wind turbines like, Hybrid Field Generator, have become more popular in the growing renewable energy market. With wind energy, voltage and current control is generally provided by means of power electronics. The paper describes the analytical investigation in to control aspects of a hybrid field generator controller for optimized performance. The project objective is about maintaining the generated voltage at 28V through out a generator speed range, between 149 rpm and 598 rpm. The over voltage load, known as dump load, is connected to the control circuit to reduce stress on the bypass transistor for speeds above 598 rpm. Maintaining a stable voltage through out the speed range, between 149rpm and 598rpm, is achieved by employing power electronics techniques. This is done by using power converters and inverters to vary the generator armature excitation levels hence varying its air gap flux density. All these take place during each of the three modes of generator operation, which are: buck, boost and permanent magnet modes. Although the generator controller is power electronics based, it also uses software to optimize its performance. In this case, a PIC16F877 microcontroller development system has been used to test the controller function blocks.
- Full Text:
- Date Issued: 2003
Intelligent monitoring and control system for a friction stir welding process
- Authors: Kruger, Grant
- Date: 2003
- Subjects: Friction welding
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10823 , http://hdl.handle.net/10948/273 , Friction welding
- Description: A Friction Stir Welding machine is proposed and built to allow future research into the process and to provide a framework from which the application of intelligent manufacturing to industrial processes can be investigated. Initially a literature survey was conducted upon which the design of the machine could be based. The conversion of a conventional milling machine into a Friction Stir Welding machine by applying modern monitoring and control systems is then presented. Complete digital control was used to drive actuators and monitor sensors. A wireless chuck mounted monitoring system was implemented, enabling forces, torques, temperature and speed of the tool to be obtained directly from the process. Software based on a hierarchical Open Systems Architectural design, incorporating modularity, interoperability, portability and extensibility is implemented. This experimental setup is used to analyze the Friction Stir Welding process by performing data analysis using statistical methods. Three independent variables (weld speed, spindle speed and plunge depth) were varied and the independent variables (forces, torques, power, temperature, speed, etc) recorded using the implemented software. The statistical analysis includes the analysis of variants, regression analysis and the creation of surface plots. Using these results, certain linguistic rules for process control are proposed. An intelligent controller is designed and discussed, using the derived rules to improve and optimize certain aspects of the process encountered during the experimental phase of the research.
- Full Text:
- Date Issued: 2003
- Authors: Kruger, Grant
- Date: 2003
- Subjects: Friction welding
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10823 , http://hdl.handle.net/10948/273 , Friction welding
- Description: A Friction Stir Welding machine is proposed and built to allow future research into the process and to provide a framework from which the application of intelligent manufacturing to industrial processes can be investigated. Initially a literature survey was conducted upon which the design of the machine could be based. The conversion of a conventional milling machine into a Friction Stir Welding machine by applying modern monitoring and control systems is then presented. Complete digital control was used to drive actuators and monitor sensors. A wireless chuck mounted monitoring system was implemented, enabling forces, torques, temperature and speed of the tool to be obtained directly from the process. Software based on a hierarchical Open Systems Architectural design, incorporating modularity, interoperability, portability and extensibility is implemented. This experimental setup is used to analyze the Friction Stir Welding process by performing data analysis using statistical methods. Three independent variables (weld speed, spindle speed and plunge depth) were varied and the independent variables (forces, torques, power, temperature, speed, etc) recorded using the implemented software. The statistical analysis includes the analysis of variants, regression analysis and the creation of surface plots. Using these results, certain linguistic rules for process control are proposed. An intelligent controller is designed and discussed, using the derived rules to improve and optimize certain aspects of the process encountered during the experimental phase of the research.
- Full Text:
- Date Issued: 2003
Sensorless speed estimation in three phase induction motors
- Authors: Govindsamy, Matthew
- Date: 2002
- Subjects: Electric motors, induction , Electronic controllers
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10810 , http://hdl.handle.net/10948/139 , Electric motors, induction , Electronic controllers
- Description: This thesis proposes a technique to determine and improve the performance of a sensorless speed estimator for an induction motor based on Motor Current Signature Analysis (MCSA). The theoretical concepts underlying the parameter based observer are developed first and then the model of the observer is built using Simulink. The observer is developed based on Model Reference Adaptive System (MRAS). The dynamic performance of the observer and its behavior due to variation of machine parameters is studied. The error in speed estimated using this observer is shown and the ability of MCSA to retune the rotor speed from the stator current spectrum. The spectrum estimation technique has been implemented using a software routine in Matlab. Both the observer and MCSA techniques were implemented practically on an induction motor. The performance of the combined sensorless speed estimation system was tested and verified.
- Full Text:
- Date Issued: 2002
- Authors: Govindsamy, Matthew
- Date: 2002
- Subjects: Electric motors, induction , Electronic controllers
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10810 , http://hdl.handle.net/10948/139 , Electric motors, induction , Electronic controllers
- Description: This thesis proposes a technique to determine and improve the performance of a sensorless speed estimator for an induction motor based on Motor Current Signature Analysis (MCSA). The theoretical concepts underlying the parameter based observer are developed first and then the model of the observer is built using Simulink. The observer is developed based on Model Reference Adaptive System (MRAS). The dynamic performance of the observer and its behavior due to variation of machine parameters is studied. The error in speed estimated using this observer is shown and the ability of MCSA to retune the rotor speed from the stator current spectrum. The spectrum estimation technique has been implemented using a software routine in Matlab. Both the observer and MCSA techniques were implemented practically on an induction motor. The performance of the combined sensorless speed estimation system was tested and verified.
- Full Text:
- Date Issued: 2002
The control of a multi-variable industrial process, by means of intelligent technology
- Authors: Naidoo, Puramanathan
- Date: 2001
- Subjects: Fuzzy systems , Intelligent control systems
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10813 , http://hdl.handle.net/10948/48 , Fuzzy systems , Intelligent control systems
- Description: Conventional control systems express control solutions by means of expressions, usually mathematically based. In order to completely express the control solution, a vast amount of data is required. In contrast, knowledge-based solutions require far less plant data and mathematical expression. This reduces development time proportionally. In addition, because this type of processing does not require involved calculations, processing speed is increased, since rule process is separate and all processes can be performed simultaneously. These results in improved product quality, better plant efficiency, simplified process, etc. Within this project, conventional PID control has already been implemented, with the control parameter adjustment and loop tuning being problematic. This is mainly due to a number of external parameters that affects the stability of the process. In maintaining a consistent temperature, for example, the steam flow rate varies, the hot well temperature varies, the ambient may temperature vary. Another contributing factor, the time delay, also affects the optimization of the system, due to the fact that temperature measurement is based on principle of absorption. The normal practice in industry to avoid an unstable control condition is to have an experienced operator to switch the controller to manual, and make adjustments. After obtaining the desired PV, the controller is switched back to automatic. This research project focuses on eliminating this time loss, by implementing a knowledge-based controller, for intelligent decision-making. A FLC design tool, which allows full interaction, whilst designing the control algorithm, was used to optimize the control system. The design tool executed on a PC is connected to a PLC, which in turn is successfully integrated into the process plant.
- Full Text:
- Date Issued: 2001
- Authors: Naidoo, Puramanathan
- Date: 2001
- Subjects: Fuzzy systems , Intelligent control systems
- Language: English
- Type: Thesis , Masters , MTech (Electrical Engineering)
- Identifier: vital:10813 , http://hdl.handle.net/10948/48 , Fuzzy systems , Intelligent control systems
- Description: Conventional control systems express control solutions by means of expressions, usually mathematically based. In order to completely express the control solution, a vast amount of data is required. In contrast, knowledge-based solutions require far less plant data and mathematical expression. This reduces development time proportionally. In addition, because this type of processing does not require involved calculations, processing speed is increased, since rule process is separate and all processes can be performed simultaneously. These results in improved product quality, better plant efficiency, simplified process, etc. Within this project, conventional PID control has already been implemented, with the control parameter adjustment and loop tuning being problematic. This is mainly due to a number of external parameters that affects the stability of the process. In maintaining a consistent temperature, for example, the steam flow rate varies, the hot well temperature varies, the ambient may temperature vary. Another contributing factor, the time delay, also affects the optimization of the system, due to the fact that temperature measurement is based on principle of absorption. The normal practice in industry to avoid an unstable control condition is to have an experienced operator to switch the controller to manual, and make adjustments. After obtaining the desired PV, the controller is switched back to automatic. This research project focuses on eliminating this time loss, by implementing a knowledge-based controller, for intelligent decision-making. A FLC design tool, which allows full interaction, whilst designing the control algorithm, was used to optimize the control system. The design tool executed on a PC is connected to a PLC, which in turn is successfully integrated into the process plant.
- Full Text:
- Date Issued: 2001
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