Corso IFTS

Tecnico Progettista Programmatore di sistemi per l'industria 4.0

ARCHITETTURA E
PROGRAMMAZIONE SISTEMI PER
MOTION CONTROL

MARCO
SILVESTRI

LEZIONE 02
MOVING AND SENSING
ACTUATORS SENSORS

MECHATRONICS

2
 FEEDBACK CONTROL
(AKA CLOSED-LOOP CONTROL OR EXPLORATIVE CONTROL)

Set point Effect

90% of industrial mechatronic systems are based on

feedback control
3
 PLC * CASE

AUTOMATED
MACHINE/PLANT

HW + SW

MECHATRONIC
SYSTEMC

*PROGRAMMABLE LOGIC CONTROL

 CNC* CASE

AUTOMATED
MACHINE/PLANT

HW + SW

MECHATRONIC
SYSTEMC

*COMPUTER NUMERICAL CONTROL

GENERAL APPROACH TO DRIVE CONTROL
AND TIME REQUIREMENTS

e.g.: «Robot, go to the cell (3,2) of the

open or close warehouse»
loop control * possible feedback: proximity sensor turn
on when arrived in position
e.g.: «motors, to go to the cell (3,2)
open or close follow this curve path»
loop control * possible feedback: avoid obstacles seen
by a camera
e.g.: «motor, have a speed proportional
to this voltage»
needed feedback: derivative of the shaft
angle given by effect Hall sensor or
encoder.

* the book says they are always open loop control: it

means that they are not feedback loop in strict control
theory sense (slide 6)
 DECENTRALISED AND CENTRAL MOTION
CONTROL
▪ In decentralised motion ▪ Central motion
control, the control control should always
(usually a PLC for be used if a common
sequence control) sends motion sequence for
commands to the axes. a number of axes has
▪ This architecture is to be calculated on
always to be the basis of a
recommended if a large multidimensional
number of axes are motion profile.
being driven by a single ▪ Typical applications
control and/or if the are coordinated
movements of the axes drives in machine
either do not need to tools and robots.
be synchronised very
closely or are
dependent upon a
master motion
PROGRAMMING OF CONTROLS

e.g.: line interpolation, arc interpolation,

homing

e.g.: move a tool to cut a specific shape,

move the welder to weld a number of
points to create the body-in-white

e.g.: choose the shape to be cut, change

the machine speed rate
 ENERGY VS INFORMATION
▪ The energy flow is generally a product of a
generalized flow and a potential (effort).

▪ Information on the state of the mechanical

process can be obtained by measured
generalized flows (speed, volume, or mass
flow) or electrical current or potentials
(force, pressure, temperature, or voltage).

▪ Together with reference variables, the

measured variables are the inputs for an
information flow through the digital
electronics resulting in manipulated
variables for the actuators or in monitored
variables on a display.

▪ The addition and integration of feedback
information flow to a feedforward energy
flow in a basically mechanical system is one
characteristic of many mechatronic systems.
▪ Then we could also say that in
a mechatronic system there is a
synergic combination of
information flow and energy
flow in one single loop