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Preliminary Design
Table 1 - Typical components and function within mechatronic pusher
Function /
Feed Modulate Convert Adapt Transmit
Technology
Spur gear,
AC network, Chopper, DC motor, Rod end,
epicycloid gear,
Electro- DC network, inverter, PMAC motor, thrust bearing,
worm gear,
mechanic battery, wire, contactor, induction motor, connecting
ball/roller screw,
filter, capacitor clutch, brake etc. rod
rack & pinion
Pump, Rod end,
Orifice,
regulator, filter, Pump, hydraulic thrust bearing,
Fluid power control valve, -
hydraulic line, motor, linear jack connecting
servovalve
accumulator rod
Table 1 gives the information about the hardware used in the system and software details
are provided in the table 2.
Role in the
Sr. No Name of the Hardware Quantity Specifications
Project
Works as a
14 Digital I/O
controller in the
6 Analog I/O
1 Arduino Controller 1 system, which
32 Kb Flash Memory and a
accepts signals
serial port
from MATLAB
Actuates
Double Acting Actuators,
according to the
Linear Electro-Mechanic PMDC Motor driven through
2 1 PWM signals from
Actuator (EMA) rack & pinion gear, 13 cm
DC Motor Driver
stroke length
Modul
1 MATLAB MATLAB 2013b is used, Arduino I/O packages are essential to download
To regulate the control voltage of the DC motor, PWM circuits are currently used in numerous
applications. This method consists in supplying pulses of a high frequency to the motor terminals. Due
to the time constant of the current rise/fall in the motor winding, the pulse signal corresponds to a
constant voltage, whose value equals the average value of the PWM course, which can be simply
adjusted by changing the width of the supplied pulses. An advantage of such kind of control is its
simple implementation using digital circuits. A lot of microcontrollers are even equipped in special
outputs designed to generate a PWM signal; the outputs are usually connected with internal
timing/counting circuits by means of hardware. For the needs of controlling the DC motor, an
integrated H-bridge was selected, which makes it possible to supply to the motor terminals a voltage
of a desired polarization. Change of the polarization results in changing direction of rotations of the
rotor. A nominal voltage of the motor is 12 V. An H-bridge circuit type L298D was applied, which
was additionally equipped in embedded diodes protecting the circuit form rushes of the voltage induced
in the motor windings while switching direction of rotation. Fig. 3 presents a simplified block diagram
of the control system.