Design and Modelling of Distributed Industrial Manipulation System with Wireless Operated Moving Manipulation

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1 Tncton on Electcl Enneen, Vol. (05), No Den nd Modelln of Dtbuted Indutl Mnpulton Sytem th Wele Opeted Movn Mnpulton Květolv Beld ) nd Pvel Píš ) ) Dept. of Adptve Sytem, Inttute of Infomton Theoy nd Automton of the Czech Acdemy of Scence Pod Vodáenkou věží, 8 08 Pue 8 Czech Republc, e-ml: [email protected] ) Deptment of Contol Enneen, culty of Electcl Enneen, Czech Techncl Unvety n Pue Klovo nám. 3, 35 Pue, Czech Republc, e-ml: [email protected] Abtct The ppe del th decpton of pncple nd pplcton concept of dtbuted ndutl mnpulton ytem contnn ele opeted movn mnpulton unt. In the ppe, thee novel pplcton of the ele dt communcton. The oluton ntended fo ndutl mnpulton ytem uppotn obotc plnt nd cente. An exmple of uch ytem ued n th ppe cont of evel movn mnpulton unt, evel ttony uxly unt nd contol compute. Keyod Mnpulton ytem, ele communcton, dtbuted ytem, poducton lne, phycl modelln, DC moto, obotc. I. INTRODUCTION The mnpulton opeton e nheent pt of hteve technolocl pocedue. Nody, uul moden ndutl poducton bed on flexble mnufctun ytem (MS) nd compute-nteted mnufctun (CIM) [], []. It men tht the ytem e ble to mne nd ect to the chne of technolocl pocedue o technolocl pmete mmedtely hen they occu. uthemoe, the mnufctun tke dvnte of compute to contol the ente poducton poce. Th nteton llo ndvdul ytem unt to exchne nfomton th ech othe nd ntte o execute conequent cton. Due to the compute nteton, the mnufctun my ccelete nd be le eo-pone. It ve the blty to cete fully utomted mnufctun pocee ncludn not only pue poducton opeton but lo mnpulton opeton. Typclly, t ele on the cloed-loop contol nd el-tme meuement fom eno. Specfed concept of the mnufctun e cloely elted to the ued mnpulton ytem. It uully olved by poducton nd embly lne, hch connect ndvdul ok-plce of the poducton (ee. ). The lne e fxed but compoed of modul component [3]. Such confuton dvnteou fo m mnufctun nd pecfclly fo mn technolocl flo of the poducton too. Hoeve, t become le flexble on locl level, fo one okplce, dcontnuou o btchmode opeton o lo fo flexble ee poducton. The equement fo the flexblty follo fom the demnd of hhly vble poducton detl o vble poduct themelve. The le flexblty of the conventonl poducton lne cont n the fxed tme cycle, fxed pth o lmted lod cpcty. uthe lmtton my le n the fxed poducton flo of nput mtel, fnhed poduct nd te thout ny condeton of dffeent hpe, eht etc. Th ppe del th decpton of pncple nd pplcton concept of the dtbuted ndutl mnpulton ytem. They e ntoduced n the lbotoy model of l mnpulton ytem th evel ndependent movn unt fo contnuou nd lo dcontnuou mtel mnpulton mon ndvdul okplce. The flexblty olved by the ele dt communcton [], movn nd contctle eno nd dptve lothm of clbton/dentfcton of key ytem pmete fo odomety nd mthemtcl modeln of the mnpulton unt. The ppe follo fom enel fetue of the dened lbotoy mnpulton ytem. Theefte, t focue on the phycl nly nd ppopte mthemtcl decpton ncludn poble mplfcton. Then, the dmble contol ppoche e dcued eltve to the ytem elzton nd evel exmple fom el contol poce e hon... Exmple of poducton lne n MS. TEEN050

2 Tncton on Electcl Enneen, Vol. (05), No STRUCTURE O MANIPUATION SYSTEM et u conde okplce th el obot nd ppopte pt of the mnpulton ytem (. ). 3.. Pt of the mnpulton ytem th obotc okplce. The okplce contn fxed optcl te, dve unt, unt fo lod, lod (mtel, tool, poduct, te etc.), optcl poton eno, obot-mnpulto (condeed opeton: mchnn, dlln, eldn, vnhn, cuttn, moldn, pckn, otn, embln etc.), ude l. A tuctue of the moden mnpulton ytem hould povde flexble chne of the mnpulton pth; collon vodn; dt exchne mon ndvdul unt nd ome coodnto on lobl level (.e. on level of the hole mnpulton ytem); nd mne vble lod eht nd lo e.. fety pocee on the locl level (.e. eltve to ndvdul movn mnpulton unt) [5]. The lobl-level tk cn be elzed v contol compute mn coodnto, hch povde the dt exchne nd the pocen. Such coodnto cn opete n to mode: offlne nd onlne. The offlne mode detemned fo the pepton nd evluton of poducton tk, pth/tectoy optmzton, mkn demnd on the upply. The onlne mode povde the eltme dt pocen nd contol cton eneton. The locl-level tk e olved utonomouly fo ech ndvdul movn unt. They nclude the dentfcton of phycl pmete (eht nd moment of net, electc dve contnt) nd clbton of poton eno. uthemoe, the tuctue of the mnpulton ytem pedetemne nfcntly lo ued dt tnfe communcton men. If the ytem h fxed mnpulton flo nd fxed component, t poble to conde conventonl e dt ce. o flexble tuctue o confuton, the ele communcton chnnel epeent pomn y of the oluton. Althouh ele y offe hh flexblty of the ytem tuctue o confuton, the utonomou movn unt hve to be equpped by ome ntenl ouce of eney not only fo the dt tnmon but mnly lo fo el mnpulton. Genelly, n ce of dtbuted eney elf-uffcent ytem unt, the oluton eched mon lo-poe communcton technoloe, hch do not lod the poe upply of the ppopte unt nd they e ble to be elf-ettn n flue tuton. Ued hde nd ofte elzton tkn nto ccount pncple mentoned bove e demontted fo the dened lbotoy mnpulton ytem n Secton 5. II. MATHEMATICA DESCRIPTION O COMPONRNENTS Th ecton ll focu on the mthemtcl decpton o compoton of the dynmcl model of one moton unt. Th due to the fct tht the movn unt dynmc contnuou ytem tht pefom the mn pupoe of the mnpulton ytem. o the decpton of the hole ytem, t uffcent to decbe one unt nd dentfy ny dffeence of othe unt loclly, t mentoned n the pevou ecton. Dffeence e ven e.. by dffeent dve, lod eht nd confuton. The devton of the dynmcl model epeent compoton of pue equton of moton: e () The equton () epeent the dynmcl equlbum of ll ntenl (the left de of the equton) nd ll extenl foce (the ht de of the equton). Intenl foce men net effect nd extenl foce men ll nput effect lke dve effect o uoundn effect. The detled pecfcton of ndvdul tem ndcted n the follon ubecton. A. Extenl oce Effect et u tt fom decpton of the dtbuton of extenl foce effect the ueful lod nd opetn lod n elton to the dve toque. et uoundn effect be omtted. The bc dm fo the foce dtbuton ctn on the movn unt hon n. 3. G G G. 3. Dtbuton of the extenl foce effect. The dtbuton of the foce effect cn be tten follo: G G G ) () ( hee totl tcton foce, nd nd e ppopte opetonl nd ueful tcton foce coepondn to the opetonl nd el ueful lod, G, G, G e eht nd coeffcent of the unnn (moton) etnce. The foce dtbuton () hould meet the condton fo the olln moton of the heel: ) (3) ( G G G hee totl dheon foce, coeffcent of dheon fcton nd um G G G totl dheon eht (totl noml foce) of the movn unt. The condton o nequlty (3) mpotnt o tht the heel of the movn unt e olled on the l nd do not lde on t [6]. Note: It poble to conde lo the mnetc [7] o levtton moton. The fome ce bed on the pncple of dect lne moto; the ltte uppoted by tcton fn. TEEN050

3 Tncton on Electcl Enneen, Vol. (05), No. 3 7 To decbe lnk beteen the dvn (moto) toque nd totl tcton foce on the dve unt.e. poe tnmon; let u conde the dm n.. Th dm epeent e confuton of the condeed lbotoy mnpulton ytem Tnfomton of the dvn toque nto tcton foce. The lnk of the poe tnfomton nclude unt moto (DC moto), flyheel, om, om th e heel (dle heel), e heel, dven heel, ude l. Indvdul foce effect e the toque on the moto hft, toque on om heel, toque on dven heel nd coepondn dheon foce nd tcton foce. Relton mon them follo fom the poe tnmon equton: P v () hee ymbol fo ppopte ndvdul nul ( ) velocte, du of the dven heel nd 5 v. Then, let the follon tnentl velocty on du equlte of tnentl velocte of the heel n the e meh be tken nto ccount: - tnentl velocty n the om e v (5) - tnentl velocty n the pu e v 5 (6) - tnentl velocty on the dven heel v (7) hee,,,, e the om due (moto hft), om heel, heel connected to the om, pu e nd dven heel epectvely. Then, the dependence of the tcton foce on the moto toque expeed follo: z z (8) z z hee z, z, z, z e numbe of teeth of the ppopte heel nd, e the e to of the pu e nd om. B. Model of the DC Moto The DC moto epeent the mplet moto confuton. It cn be modelled by the econd ode equton follo: R km km km u J (9) It phcl epeentton hon n. 5. DC moto u u e R km km. 5. Dm of the DC moto. J The dm fo the buh DC moto th pemnent mnet n the tto; u, ue e nput nd ntenl nduced volte; J moment of net of the moto hft nd othe pmete R,, km, km e electcl contnt etnce, nductnce, cuent nd volte contnt [8]. C. Intenl oce Effect A ledy mentoned, ntenl foce effect epeent net effect. In the ce of the movn unt, they e cued pedomnntly by the eht of ndvdul pt of the movn unt. Thu, they e decbed by the follon expeon: m m m ) x (0) ( D. Dynmcl Model of Movn Unt ull decpton of the dynmc of the movn unt (pue equton of the moton) cont only of the dynmcl equlbum of the foce effect n hozontl decton (nle lontudnl x),.e. ntenl nd extenl effect ncludn modelln of the unt dve. o the pupoe of the contol the dynmc of the dve cn be modelled by lne dependency. The utble model of the movn unt cn be expeed follo (epetton of () fom the bennn of th ecton): e () The complete model cn be tten fte the ppopte ubttuton : m m m x ) () ( e (3) R km km km u J () The equton () - () epeent complete dynmcl model of one movn mnpulton unt. Th detled mthemtcl model utble multon model. o contol pupoe, t cn be mplfed. The poble model mplfcton ll be hon n the follon ecton. TEEN050

4 Tncton on Electcl Enneen, Vol. (05), No. 3 7 III. CONTRO APPROACHES The contol of dtbuted mnpulton ytem epeent hechcl o multlevel tk. On the hhet lobl level, the contol lothm hve to povde ve mnpulton (mnpulton thout unt collon) nd optml mnpulton tectoe mon ndvdul tnd poton. Th level lotc tk []. The locl level elte to the ndvdul movn mnpulton unt. The contol tk on th level cn be defned follo: et the efeence vlue fo the moton tectoy o t fothcomn tectoy ement of ndvdul mnpulton unt be ven, then the tk of contol to enete uch contol cton to follo the ven efeence nd to meet ccutely equed tnd poton. o completene, n ddtonl level, the loet one, povde dt communcton tk nd dt pepocen. Th level mpotnt, hen the ele communcton mon ndvdul mnpulton unt nd communcton th the ytem coodnto ued. In th ppe, fully-bdectonl ele ZBee communcton condeed [9]. It povde dt tnmon fom the centl coodnton compute to the ndvdul mnpulton unt nd vce ve. om the contol theoy pont of ve, the follon thee mn contol ppoche cn be tken nto ccount: tchn to-level o mult-level locl contol mple PID contol (contol eo evluton) model-bed contol (e.. ne-qudtc contol) The ft ppoch ue lmted contol cton et, fom hch the ppopte contol cton elected ccodn fe pedefned tchn ule. It povde dcontnuou ftful mnpulton. Th ppoch utble fo mll ytem th lo eht of lod. The othe to ppoche ue contnuouly dt fom the meuement nd enete contol cton n the full ne of dmble dve nput. It cn offe mooth moton thout hp nd udden ocllton. Smple PID contol doe not ue model, t evlute only contol eo of the meued ytem output fom the efeence vlue. The model-bed contol ppoch bed on moe complex optmzton lothm ncludn mthemtcl model of the ndvdul mnpulton unt [0]. o lbotoy pupoe, t poble to conde mplfcton of the mthemtcl model ven by () (): m m m x ) k u (5) ( It follo fom the umpton of the tedy tte behvo of the ptcul unt. Then, the model of moto dynmc cn be ven fo mll poe by lne functon: u (6) hee k u volte coeffcent. All contnt coeffcent cn be condened n one coeffcent k follo: k u k k k (7) u hee k obtned fom the e to: (8) k The model (5) ued n ce of non-dptve modelbed contolle. Othe poblty to conde ome dentfcton fo detemnton of the model pmete [0]. IV. REAIZATION AND EXAMPES Th ecton focued on bef decpton of the ued lbotoy model of the dtbuted mnpulton ytem. The ytem (ee. 7) cont of evel dtbuted movn unt nd ttony unt. The movn unt povde dcontnued mnpultve opeton nd the ttony unt eve monton nd utlty ntefce. Both movn nd ttony unt e ndependent of othe unt (utonomou of othe) n ll epect,.e. elfcontolln nd eney elf-uffcent unt. The unt e dven by DC moto nd contn electo-optcl poton eno nd e equpped by ZBee communcton tnceve (tnmtte & eceve n one) []. The tnceve e connected to the ZBee communcton netok. The netok elzed t netok th one mn node okn the netok oute nd coodnto. It compe tey fo the contol compute, hch povde both the lobl nd locl level contol. The loet level povded dectly by the mn node (. 6).. 6. ZBee netok oute & coodnto ll n one node. TEEN050

5 00mm 00mm Tncton on Electcl Enneen, Vol. (05), No ttony unt pont tch optcl te movn unt l pont of the l 3000mm ytem okpce. 7. Dm of the lbotoy mnpulton ytem.. 8. Rel lbotoy model of the mnpulton ytem.. 9. Sceen hot of the el-tme contol ccut n the MATAB-Smulnk envonment. TEEN050

6 Tncton on Electcl Enneen, Vol. (05), No. 3 7 [mm] [] [V] 0 u mn u mx -u mx -u mn nentvty cton zone []. 0. Tme behvou of one movn unt: poton (on the top) nd contol cton (t the bottom). No. of ctvted IR optcl te [].. Exmple of the movn mnpulton unt.. 8 ho hlf of the lbotoy model of the mnpulton ytem. In. 8, thee e thee movn unt, fou pont tche nd fou fxed optcl te.. 9 ho the ued el-tme contol ccut mplemented n the MATAB-Smulnk envonment ntended fo the tet of the multneou cyclc moton of the movn mnpulton unt. The ccut peped fo up to fou movn unt th ndvdul optcl poton nd optcl te eno nd to ttony unt th eht pont tche nd eht fxed optcl te. Sttony unt povde opeton of the pont tche nd fxed optcl te. The te eve fo detemnton of the bolute poton of ll unt, hch contn only ncementl poton eno. The ytem telf connected thn the Smulnk model v Stndd Devce Sel Pot - Stem Output (PWM dt) nd Input (Senodt) Smulnk block. The Input - Output block povde communcton th el ntefce of the contol compute.. 0 ho tme behvou of one movn unt dun cyclc moton. The poton on the top. At the bottom, thee e ppopte contol cton. The tme behvou ecoded fo the tchn mult-level feedbck contol. The contol lothm elected contol cton dcetely eltve to topcl unt poton (potonl feedbck). In. 0, the eet of the poton meuement of the ncementl optcl poton eno e ndcted by the ed hozontl hot lne. They coepond to ppopte nl fom the fxed optcl te of the mnpulton ytem. To p the te men tht ptcul movn unt nteupt the optcl ccut nd the coepondn fxed optcl eno of the te end coded mee to the compute fo pocen. The dt ecod n. 0 ho occonl flue n the poton etmte. It cn be cued by n mpefect ufce fo the optcl eno. The ZBee communcton hd no flue n the dt tnmon. Thee flue my occu, f the tnmtted nl lo o blocked by ome obtcle. TEEN050

7 Tncton on Electcl Enneen, Vol. (05), No REERENCES.. Ge of the dve unt. nlly,. ho n exmple of one movn unt nd. ho detl ve on the tnmon of the dvn toque fom the hft of the DC moto by the e on the dven heel of the dve unt.. cloely coepond to the dm n.. V. CONCUSION The ppe del th mthemtcl phycl nly fo compoton of the mthemtcl model of the movn mnpulton unt mn dynmcl pt of dtbuted mnpulton ytem. In the ppe, the techncl pect of the contol ppoche ee dcued. The m of the futue nvetton nd development complete pplcton of the multtep model bed pedctve contol [0] on level of the ndvdul movn mnpulton unt of the mnpulton ytem dtbuted utonomou contol confuton. Pedctve contol model bed ppoch ould conde model (5) nd enete n ppopte level of the nput volte fo the ptcul movn mnpulton unt. [] Klpkn, S. nd Schmd, S., Mnufctun Enneen nd Technoloy. Pentce Hll, 006. [] Tolo, T., Den of lexble Poducton Sytem Methodoloe nd Tool. Spne, 009. [3] Tukune, H. et. l., Modul Mnufctun, J. of Intellent Mnufctun, volume (), 993, pp [] Koump, K., Andeon,.H.M. nd Johnon, M., Wele ndutl contol nd monton beyond cble eplcement, PROIBUS Int. Conf., 005, pp. -7. [5] Dnšová, N., Velšek, K. nd Košťál, P. (009). Automted Tool Chnn Sytem n the Intellent Mnufctun nd Aembly Cell, Int. Sympoum on Computn, Communcton, nd Contol, Snpoe, pp. -7. [6] Polák, J. nd Slív, A., Dopvní mnpulční zřízení III. (n Czech), TU Otv, 00, 6 pp. [7] Ntonl Hh Mnetc eld botoy: Mlev Tn Audo Sldeho, Mnetc evtton, 0, [8] Beld, K., Contol of Pllel Robotc Stuctue Dven by Electomoto. Detton. CTU n Pue, EE, 005, pp. [9] Knney, P., ZBee technoloy: Wele contol tht mply ok, Poc. of Communcton Den Conf., 003, pp. -. [0] Beld, K. nd Böhm, J., Adptve enelzed pedctve contol fo mechtonc ytem, WSEAS Tncton on Sytem, volume 5(8), 006, pp [] Beld, K., Rychnovký, V. nd Píš, P., Wele communcton fo contol of mnpulton ytem, Achve of Contol Scence, volume (), 0, pp. 9-. TEEN050