Martin Juhas

Sorting system with buffer stock visualisation using Matlab GUI and VRML

Original scientific paper The paper describes the issue of an automated system of requirements processing visualisation. The sorting process of components is implemented by buffer stock using in this system. The system is realized by using the Matlab environment. The Matlab GUI elements are used for application design, which serves for system parameters definition and 2D process visualization. 3D visualization is processed by VRML, while system dynamics is controlled by Matlab commands. A series of experiments under various scenarios was performed. The experiments resulting in the system effectiveness analysis under various criteria based on defined system parameter changing.

Sensitivity analysis of mechatronic system with flexibility control

The contribution deals with sensitivity analysis of a mechatronic system with flexibility and its control using the tool for scientific computation - Matlab. There are different methods of a mechatronic system control design used in this article. The system sensitivity is analysed on the basis of absolute differential (parametric) and relative differential sensitivity. Also, the influence of variability in selected parameters on the shape of step response and frequency-response characteristic is studied.

New possibilities of industrial programming software

Recent developments in the area of industrial programing software expand the potential of the automation programs considerably. In addition to IEC 61131-3 languages, programming languages like C and C++ are getting available for industrial controllers, which opens new possibilities of reusing existing programs for real time processing in these controllers. Paper deals with swing-up and online model predictive control of mechatronic device - reaction wheel inverted pendulum. Swing-up control uses convenient shape of exponential function over pendulum position for determination of required energy to be delivered to the system. For stabilization of pendulum in the upright position a predictive controller based on optimal control law with perturbation was used. An important part of the solution is PLC implementation of qpOASES package for numerical solution of quadratic optimization problem. Application is implemented and tested using industrial PLC connected to a laboratory pendulum.

Analysis of the MPC Using in the Control of a Mechatronic System with Flexible Elements

The analysis of negative impact of flexible mechatronic system parameter error and its reduction is presented in this contribution. The MPC method is proposed to use for reduction of double notch filter insufficient effect, which was initially integrated into system for flexible joint parasitic frequencies elimination. Simulation experiments results – response of system angular velocity and control process quality analysis confirmed the correctness of proposition of MPC controller using.

Electronic throttle identification and modeling

The methods of electronic throttle experimental identification together with optimization based parameters estimation are presented in this article . The parameters identified by this experimental identification were used as initial values of optimization variables in the problem of nonlinear optimization, where the cost function was non smooth. For this type of problem the Pattern Search method was used and satisfactory results were obtained. The results in this article are presented in the graphical form and show closeness between the measured and modeled signals of throttle plate position and angular velocity. The results are satisfactory for data, which were measured in closed loop by nonlinear throttle plate position controller.