산업 자동화 응용 사례

Extends the Smart4i virtual commissioning applications to accommodate robot dynamics in the system framework to automate assembly line operation. This example models and controls the dynamics of robots in the assembly line, which helps develop a more realistic simulation environment. The virtual assembly line consists of four components: two robotic workcells, connected by a shuttle track and a conveyor belt. The first robot, Robot 1, is a Comau Racer V3 and places cups onto the shuttle. The second robot, Robot 2, is a Mitsubishi RV-4F and places balls in the cups. The shuttle track system consists of four shuttles which continuously move to Robot 1, then to Robot 2, followed by a slider. A slider then delivers those cups containing balls to a container. For a detailed system overview, see Automate Virtual Assembly Line with Two Robotic Workcells (Robotics System Toolbox).

이 예제에서는 액추에이터가 포화되었을 때 PID 제어기의 적분 와인드업을 방지하기 위해 안티와인드업 기법을 사용하는 방법을 보여줍니다. Simulink®의 PID Controller 블록에는 두 개의 내장 안티와인드업 방법인 back-calculation과 clamping이 포함되어 있으며 더 복잡한 산업 시나리오를 처리할 수 있는 추종 모드도 제공합니다. PID Controller 블록은 산업 시나리오에서 흔히 발생하는 제어기 와인드업 문제를 처리할 수 있는 여러 기능을 지원합니다.

Achieve bumpless control transfer when switching from manual control to proportional integral derivative (PID) control. The model uses the PID Controller block in Simulink® to control a first-order process with dead-time.

Regulate the speed of an electric motor using two degree-of-freedom PID control with set-point weighting. This model uses the PID Controller (2DOF) block. The model changes the setpoint values between 60 and 30 rpm. To convert the units to rad/s for use in the PID controller, the model uses a Signal Conversion block.