Control of a print from a mechanical axis

Oscar David Chingat Rodrguez, Paola Catalina Snchez Cifuentes

Universidad Distrital Francisco Jos de Caldas
Bogot, Colombia
odchingater@correo.udistrital.edu.co
Student Member 92998848
pcsanchezc@correo.udistrital.edu.co
Student Member
Active members of the chapter PES-IEEE Universidad Distrital


Abstract

Analyzing the plant model from PID control
method with reference type offset printers,
and then studies the working process of the
plant by means of the dynamic system of the
plant and its respective controller.

1. Introduction

From a printing plant built by a mechanical system
bound to a single rotational axis sensor that converts
the angular frequency voltage, which will work to close
the loop that feeds the transfer function of the plant is
connected using this sensor the first controller, which
will be on-off, which makes braking and plant startup is
implemented in a given time. For the second PID
controller was implemented, this was built from the
duty cycle of a PWM signal, with which it is possible
to control the energy consumed when the motor is
energized.


Image 1: mechanicaI system bound to a singIe rotat
ionaI axis
2. Objectives

General Purpose:
Controlling the angular velocity of a motor which will
remain constant, for a variable load system.
Specific Objectives:
Building the plant to be controlled to comply with the
duties of a printing press. Validating and modeling the
transfer function of the plant. Designing the control
system of the plant form one of the other PID and
LGR. Compare the result of using two controllers for
the same plant.

3. Procedure

Scale was constructed plant offset printer single roll;
the construction of this plant had some problems as the
location of the component parts is very accurate.

In the single axis of the plant that transforms one data
Encoder angular frequency to voltage coupling, which
allows the sensor to work in the control part because if
you do not have a sensor on the ground is difficult to
close the loop that feeds the transfer function.


Figure 1: GraphicaI osciIIoscope transfer function


Figure 2: GraphicaI simuIation transfer function

It is important to calibrate sensor about the same time
the plant is taken as this is the window that lets you see
inside the system and gives you the opportunity to work
on control. This sensor is able to mathematically
characterize the ground, look at the behavior in open
loop and once feedback is done you can also see the
behavior of closed ground loop, it is important to have
several prospects sensor because depending on this
feedback has a gain which is not desired, another
method used sensor that is not common to use in a
simulator, is to engage an extra engine in the front of
the other engine, it will have a proportional gain
directly expressed in tension that this case allows for a
view of the ground without any delay as a direct
conversion occurs mechanically avoiding check
sampling performed by the sensor.


Figure 3: Circuit with optocoupIer

Then we implemented the on-off control using a
simple program made with the theory of
microcontrollers as we took the output of 2907 lm
sensor is fed back as one of the micro analog converter
which converts the signal to a value in retaining rpm
and check him standing against a reference for the
controller to allow it to come to this level of speed and
what happens after you park it will make to reach a
point of intersection with the reference engine and
braked remain deenergized coast for some and again,
this type of control despite its simplicity is not good for
this type of system as it is very sharp, meaning that
leaves a very rapid response to the systems he sees as a
sudden change in the system to fluctuate several times
within a short time.

For the development of PID controller response use
micro controller as it is a very good solution for motor
control as from useful signal cycle of a PWM is
possible to control the energy being consumed in a
motor time to be energized; This program was made
tentatively and not have specific knowledge of the
design, an approximate model experimentally fact it
depends the operation of the micro controller PWM
duty cycle and positions that have enabled this to you
can copy a signal with good approximation.

In the graph in Figure 4 is the expected plant model
shown by the sensor with an approximation of the
display is a known model, which a more realistic and
dynamic analysis system clears systems transfer
function showing an approximate system behavior so
that the physical plant is modeled roughly be
generated; begins using a controller for the control
variables are in a very short time and gently.


Figure 4: Dynamic response of a motor

4. Mathematical model engine

Mathematical model was developed from the model in
the complex frequency domain (Figure 5) and in turn
the respective analysis is also developed in terms of the
physical variables is taken into the engine.



Figure 5: ModeI in the compIex frequency domain

The transfer function control systems usually used to
describe the characteristics of the input and output
relationships of components or systems that can be
described as non-linear time-varying differential
equations.




5. Problems and solutions

At the time of development of the on-off controller the
main problems was to find that this was not so abrupt
halt when further developing an on-off control that was
not as simple as pressing a switch, but through the help
the microcontroller and this time we determine a curb
or ripped the engine.

To implement PID controller micro controller is used
but one of the problems for this was to determine the
duty cycle which works the microcontroller further
connection problems in the assembly could not show
correct operation at the plant.


6. Results

The answer to the micro controller is a very good
solution for motor control because after the duty cycle
of a PWM signal can control the energy you're
consuming an engine in time to be energized.
Sensors are an important part and that through these we
can close the feedback loop and do automation process
but control.

We must protect electronic devices outside your
current operating range because they can damage the
overall circuit. The control devices are signal
converters, but no power when electronic devices, and
amplifiers are drawbacks and which generates a circuit
should be administered which it must control.

7. Conclusions

The time you invest the controller design is important,
but so is having the object to be controlled since both
aspects go hand in hand, because it is not the same as
controlling a motor without load connection to connect
a mechanical load with on its axis as this exerts a load
resistance and in some cases will give an inertial thrust
which makes the watch its behavior in a case or other
inputs not only be different but they do not have as
typical behavior in frequently as would be expected, in
some cases it would be good to have the teacher next
door and that amid doubts practices that fail to settle
without a different level of analysis arise.

8. References

[1] Katsuhiko Ogata, Ingeniera de control moderna, 3ra
ed., Pearson, 1998.
[2] Dennis G. Zill, Ecuaciones diferenciales con
aplicaciones de modelado, 6 Ed, matemticas thomson,
1997.
[3] Jos Danilo Rairan Antolines, Anlisis de sistemas
dinmicos y control PID, Universidad Distrital
Francisco Jos de Caldas, 2007.
[4] http://www3.fi.mdp.edu.ar/maquinas-
electricas/Teorias%20PDF/MEII/PDF%20Presentacion
es%20en%20Impress%20%28.odp%29/T10%20-
%20Control%20de%20velocidad.pdf
[5] http://www.iit.upcomillas.es/pfc/resumenes/4c27e3dbc
90c8.pdf