Andrzej Milecki

Modeling and Control of Proportional Valve with Synchronous Motor

The paper describes the research results of modeling and control of proportional valve with synchronous motor type PMSM (Permanent Magnets Synchronous Motor). In the paper, a simulation model of the proposed valve was developed and described. The model included the square root flow characteristics, nonlinearity of the hydraulic actuator, valve dead zone and saturation of the flow. The study included the investigations of the basic characteristics, such as valve flow characteristic and step responses. In order to determine the basic parameters of the valve, the test stand was built, on which the new valve and the servo drive with this valve were tested. A servo drive control system was based on PLC with touch panel and inverter module. In the paper, the chosen investigations results of the valve and the servo drive system are presented and shortly discussed.

Design of 32-Bit Washing Machine Controller

In the paper, the structure of a typical washing machine, from the control point of view, is presented. Basic sensors, measuring elements and measuring methods are shortly described. Also drives and other output elements commonly used in washing machines are briefly presented. At first, the 32-bit STM32 microcontroller structure and then the design of washing machine controller is described. All modules are specified and their function and input/output signals are described. The important steps in controller setting in motion are presented. The paper ends with a short description of the implemented software.

45 Years of Mechatronics – History and Future

The word of Mechatronics is already 45 years old. This is an occasion to present the definitions of mechatronics, its history and to show current state of the art in this discipline. The article presents a short overview of the literature related to mechatronics. The development of mechatronics is also illustrated along with development of computers and washing machines . Finally the achievements are summarized and some questions related to mechatronics’ future are stated.

Application of the MFC Method in Electrohydraulic Servo Drive with a Valve Controlled by Synchronous Motor

The article describes the use of the Model Following Control method to control of electrohydraulic servo drive. In the drive a new, designed by us, proportional valve with a synchronous motor controlled by dedicated power electronics is used. The model of the electrohydraulic servo drive controlled by MFC method prepared in MATLAB-Simulink is described. The laboratory test stand is described and step responses of the drive are shown.

Safety Improvement of Industrial Drives Manual Control by Application of Haptic Joystick

This paper presents the research results related to the use of the haptic joystick to control the electrohydraulic and electric linear drives. The main aim of this study is to examine the extent to which the use of haptic interface with force feedback and the corresponding control algorithms can contribute to improving the quality and safety of manual control of these drives. In the research several control algorithms have been proposed and validated. The investigations were performed in simulation and on a test station, using a PC with the input/output card and Simulink software. At first, the simulation model of the hydraulic and DC drive was built and connected with real haptic joystick, which enabled the control algorithm development. Then the same joystick was used in experimental investigations. The obtained results showed that the haptic interface can greatly improve the safety of the control of hydraulic and electric drives.

The Application of a Vision System to Detect Trajectory Points for Soldering Robot Programming

This article focuses on the application of a vision system for a point to point programing of a robotized soldering station. The station is used in the last stage of production for the soldering of elements, applying Through-Hole Technology (THT). In the soldering station a SCARA-type robot is used. The main aim of the usage of the vision system is to extract pads from the image of a printed circuit board (PCB), and to obtain the coordinates of central point of every pad. These coordinates are used in the soldering program, prepared for a robot. In the paper the PCB pictures processing algorithm is described. The results of practical investigations on pads coordinates recognition are presented and finally their application in the robot program is shown.

Intelligent Materials Application in Mechatronic Devices

The paper covers at first a few different definitions of mechatronics, illustrated with figures and schemes. Furthermore, main research areas of mechatronics are sketched, among which there are the applications of new, so-called, “intelligent” materials and new control and communication methods to be used by human operators. The main goal of these works is to obtain mechatronic devices smart in mechanics and intelligent in communication with the user. In this paper, the basic properties of such “smart” materials like piezoelectric crystals, magnetic shape memory alloys, and magnetorheological fluids are presented. Theoretical review is followed with practical examples of mechatronic devices developed in Division of Mechatronic Devices at Poznan University of Technology (PUT), in which the abovementioned materials are used and applied in new type of actuators.

The Design and Application of Wireless 3D Tool for Offline Programming of Soldering Robot

In the work presented in this paper a new robotized soldering station is designed and developed. At first the general structure of the soldering station is described. In this station the SCARA type robot is used, on which ending the inductive soldering iron is mounted. In the next part of the article the soldering robot programing is shortly presented. The structure of designed and developed special wireless pointer is described. Then the use of these wireless tool for intuitive programming of the soldering robot is presented. This pointer is used for setting of the soldering iron orientation in the working space. The software prepared for this setting and the programming procedures are described. Finally the built system is presented and verified in practice.

The Investigations of Hydraulic Heave Compensation System

In the paper, a review of the current state of the knowledge in the field of heave compensation systems is presented. Three most important types of heave compensation systems such as: passive (PHC), active (AHC) and semi-active (hybrid) are described in more detail. Special attention is given to show the differences between presented in this paper heave compensation systems. In the paper also the developed by authors simulation model and test stand of hydraulic heave compensation solution is described. Its chosen simulation and experimental investigation results are presented.

Investigation of Electrohydraulic Drive Control System with the Haptic Joystick

Abstract The term haptic is used to indicate the presence of force feedback from the manipulated object to the operator. One of the most commonly used haptic devices are joysticks. Such joysticks can be successfully applied also in communication with drive system, giving the human operator a feel of the output force. In the paper one axis joystick with force feedback used to control the electrohydraulic drive is proposed. In this joystick, a controlled brake with magnetorheological fluid and a small DC motor are applied. A beam with a strain gauge is used in a joystick arm, enabling the measurement of the force. In the joystick axis also a potentiometer is assembled, which measured the current arm position. In order to develop the control algorithms an electrohydraulic drive simulation and virtual model is worked out and then a haptic joystick is connected to it. The simulation results that have been obtained, enabled to design and test impedance and admittance control strategies for the system composed of haptic joystick and a real electrohydraulic drive. Finally the whole system is built, implemented and investigated in a laboratory environment. Investigations are conducted in conditions similar to real ones, in a situation where hydraulic piston touches an obstacle and the operator cannot observe this piston very accurately. Fifteen operators have been tested this way. The outcomes indicate that haptic control can improve the human feeling of forces between electrohydraulic drive and an obstacle and, thanks to this, the manual control is more accurate and safer.