Řízení kyvného pneumatického pohonu

Abstract

This master's thesis deals with the comprehensive design, realization and control of a laboratory model of a pneumatic semi-rotary drive. The introductory section describes the design of the pneumatic circuit, the selection of individual components and the construction of a mechanical load in the form of a pendulum with variable weight placement. Furthermore, the design of an electronic unit enabling collision-free connection of three different control platforms – Siemens PLC, MF634 measurement card and MicroLabBox system – is presented. The MF634 measurement card together with the MATLAB/Simulink environment was selected for system identification and the implementation of control algorithms, while only basic functionality was verified for the remaining platforms. The core of the thesis consists of the identification of system dynamics using the secant method for both unloaded and loaded states, and the development of a comprehensive nonlinear simulation model that captures the thermomechanical dynamics of the drive including the compressibility of the working medium, the flow characteristics of the valve and nonlinear friction phenomena. The final part is dedicated to the analytical design of position controllers, including the classical MNDP, UEM and MPM methods, cascade control with an inner velocity loop, and a state controller with a Luenberger observer. The quality of the individual control structures is objectively evaluated using the ITAE integral criterion.