:

:
1.

...................................................................................................................................... 2

2.

...................................... 3
2.1.

HBM quantumX MX840A ............................................................................................ 5

2.2.

Catman AP ...................................................................................................................... 7

2.3.

FESTO MPYE-5-1/8-HF-010-B...................................... 8

2.4.

(FESTO DGPL-25-450-PPV)

(FESTO MLO-POT-0450-TLF) ............................................................................................ 10

3.

.................................................................................................. 13

4.

....................................................... 18

5.

PID ............................................................................................................ 22

6.

........................................................................................................................ 25

1.

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PID tuning, PID .

2.

:

HBM QuantumX MX840A

Catman AP351

FESTO MPYE-5-1/8-HF-010-B

(FESTO DGPL-25-450-PPV)
(FESTO MLO-POT-0450-TLF)

1.0.

1.0:
( 1.1)
,
.
,

. HBM ,
Catmana
Excel . HBM Catmana
Ethernet .
.

1.1:
1.2
.

 1.2:

2.1. HBM quantumX MX840A

HBM QuantumX MX840A ( 1.3) 8

. MX840A
, .

1.3: HBM quantumX MX840A

MX840A :

( )

x a (100 mV, 10 V, 60 V)

h a (+20 mA)

x a (PTC, NTC, KTC,)

x a(PT100, PT1000)

a ( K, N, T, E,..)

x a

x a (LVDT)

x a, x a,

CANbus a
MX840A ,

.
, 24
.
,
. 174 x 44 x 119 mm,
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()
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.
MX840A :

QuantumX Assistant .

Catman AP HBM

.

GlyphXE
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QuantumX VI library LabVIEW

QuantumX API .NET .COM

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2.2. Catman AP

Catman

.
TEDS TEDS
. Catman ,
.

1.4:
BIN,
RPCIII, ASCII XLS .

 1.5:

2.3. FESTO MPYE-5-1/8-HF-010-B

FESTO MPYE-5-1/8-HF-010-B
.
.
,
.
.

FESTO ( 1.6) MPYE-5-1/8-HF-010-B.

5 3 , 1/8 (HF)
( 0 10V).

 1.6: FESTO MPYE-5-1/8-HF-010-B

:
1. ( )
2. ( )
3.

1.7:

2.4.

(FESTO

DGPL-25-450-PPV)

(FESTO MLO-POT-0450-TLF)

, .

() .
FESTO-
DGPL-25-450-PPV
MLO-POT-0450-TLF.

1.8:
DGPL-25-450-PPV ( 1.9) 25mm
450mm .

10

 1.9:

MLO-POT-0450-TLF ( 1.10)
1.9
.
:

0.01 mm

10 m/s

200 m/s2

10 V

4 mA

11

 1.10:

12

3.

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1.0 ,
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HBM ,
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4 xls
( 2.0).

2.0: Excel
Excel ,
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13

 ,
1.10 .

2.1:
Catman (
2.1),
Catman- ,

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2.2:

14


,
.
Excel
MATLAB.
Excel MATLAB.

2.3: Excel MATLAB

Excel , MATLAB .m
Podaci_Mjerenja.m 2.3. Run
MATLAB Workspace 2.4.

15

 2.4: MATLAB
( 2.5)
(Command Window) MATLAB plot(t1,a1,'b',t1,b1,'r').

2.5:
,
( 2.51),
.

16

 2.51:
,
2.52.

2.52:

17

4.
,
MATLAB.
, Excel .m
Podaci_Mjerenja.m .
MATLAB toolbox
3.1.

3.1: toolbox
System Identification
3.2.

3.2:

18

 Time domain data.

( 3.3).
.m Podaci_Mjerenja.m 0.42 ms
3.3.

)
3.3: Time domain data

Import ,
Transfer
Function Models 3.4. Transfer Function Models
( 3.4 ) ,
Estimate MATlAB 3.5.
MATlAB
.
.

19

)
3.4:

.
3.5
98.25%.

3.5:

98.25%.
:
() =

4.727
2 + 3.562 + 2.047

20

 ,
(
).
. 3.5
97.87%.

3.5:

97.87%.
:
() =

4.481
+ 2.782 + 3.594

21

5. PID
PID
.
PID MATLAB PID
tuning.
.

4.1:
ransfer Fcn
. PID Controller PID
tuning, ( 4.2)
0 10 V, (FESTO MPYE-5-1/8-HF-010-B)
.
. (P),
.
PID ( 4.2),
0 10V. PID

22

 Tune ( 4.2)
.
,
.

4.2: PID tuning

4.3 PID ,
.

4.3: PID

23

 ,
.

4.4:
PID
. 4.5 PID ,
.

4.5: PID
4.3 4.5 (
) .

.

24

6.

PID , .
MATLABa.

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.
PID ,
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, . Excel
, . PID ,

PID .


.

25