Testing high-power hydraulic pumps with NI LabVIEW (RT) and the StateChart module. Jeffrey Habets & Roger Custers

Transcription

1 Testing high-power hydraulic pumps with NI LabVIEW (RT) and the StateChart module Jeffrey Habets & Roger Custers

2 Agenda Introduction to the teststand The challenge New setup system overview Windows application User Interface RT application Statecharts steam course! RT application Statechart Conclusions... Resources 2

3 Introduction Hydraulic pumps usage 3

4 Introduction Physical setup 4

5 Introduction - Pump test chamber 5

6 Introduction what is tested 6

7 The challenge Design, implement, integrate and going live within 8 weeks... During implementation and integration: new requirements Surprise! Hydraulic drive motor is replaced by an electric 250kW motor controlled by a Bosch Rexroth Indradrive PLC is replaced by a cfp controller with an LV RT application Several stand-alone data-acquisition units that where used to record measurement data are replaced by doing DAQ via cfp System operable by more than just the guy who created it and knows all ins and outs The State Chart is your best friend! 7

8 New setup system overview Profibus Motion control PC system (HMI) Servo drive Ethernet Servo motor Compact Field Point DUT E-HW stimuli & control (Hydraulic pump or hydraulic DAQ & Status motor) 64 DI 24 AI Hydraulics 48 DO 16 AO Analog I/O & Digital I/O modules 8

9 New setup Software overview Motion control process (profibus) alarm network published Shared variables PC HMI application control history citadel DSC visualize report network published Shared variables shared variable engine cfp RT application network published Shared variables read inputs write outputs RT FIFO's Control logic StateChart RT FIFO's 9

10 Windows app - User interface 10

11 Windows app - User interface 11

12 Windows app - User interface 12

13 Windows app - User interface 13

14 Windows app - User interface 14

15 Windows app - User interface 15

16 Software overview Motion control process (profibus) alarm alarm network published Shared variables PC HMI application control history history citadel DSC DSC visualize report network published Shared variables shared variable engine cfp RT application network published Shared variables read inputs write outputs RT FIFO's Control logic StateChart RT FIFO's 16

17 Statechart Rexroth Proefstand 17

18 Statecharts Available as LabVIEW Addon module Adds hierarchy and concurrency to statemachine Design applications at a higher level Generates LabVIEW code Runs on RT controllers, FPGA and embedded targets 18

19 Vending machine state machine States 1.) INIT initialize our Coke Machine 2.) WAIT FOR EVENT where the machine waits for coins 3.) RETURN CHANGE where the machine returns change 4.) COKE PRODUCT machine received 50 or more cents dispense beverage 5.) QUARTER when the customer enters a quarter 6.) DIME when the customer enters a dime 7.) NICKLE when the customer enters a nickel 8.) EXIT after the change is returned and/or beverage dispensed, the machine will power down (application will terminate) 19

20 Vending machine state machine 20

21 Vending machine statechart 21

22 The components of a statechart components Initial pseudostate Transition State Region Terminal pseudostate 22

23 How this looks in the development environment 23

24 How this looks in the development environment 24

25 How this looks in the development environment 25

26 How this looks in the development environment 26

27 How this looks in the development environment 27

28 Statechart Rexroth Proefstand 28

29 Statechart Rexroth Proefstand 29

30 Statechart Proefstand Start EM1 transition 30

31 Statechart Hierarchy Subdiagram 31

32 Statechart Subdiagram Automatisch vullen 32

33 Statechart Entry Action Stopping vullen 33

34 Statechart Exit Action Stopping vullen 34

35 Statechart Static Reaction Stopping vullen 35

36 DEMO: Frontpanel Statechart StandAloneTest.vi Debug diagram Active States Inputs: 64 DI,24 AI,55 Control Outputs: 48 DO,16 AO,40 Visualize 36

37 Benefits experienced Changes in system behavior requirements easier Offline debugging and simulating of system Implementation together with customer / user Statechart diagram is readable for other engineers Quick overview state of system when online debugging Self documenting 37

38 Resources LVUG: LabVIEW State Machines & Statechart Module LVUG: Programming Guidelines and Techniques for the Statechart Module Frequently Asked Questions for the LabVIEW Statechart Module Download the presentation: Stay in touch JeffreyHabets 38

39 39

40 Shared Variable Engine 40

41 Example synchronous statechart 41

42 Example asynchronous statechart 42