Моделювання роботи маніпулятора в програмному середовищі tia portal v.15.1 (повідомлення 1)
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Дата
2022
Автори
Майдан, П.С.
Макаришкін, Д.А.
Михайловський, Ю.Б.
Золотенко, Е.О.
Maidan, Pavlo
Makaryshkin, Denys
Mykhaylovskiy, Yuriy
Zolotenko, Ella
Назва журналу
Номер ISSN
Назва тому
Видавець
Хмельницький національний університет
Анотація
В роботі наведено результати моделювання роботи маніпулятора із шістьма ступенями
вільності, виконані в програмному середовищі TIA PORTAL V.15.1. А саме перший етап,
створення технологічних об’єктів, що використовуються в якості цифрових двійників для запуску крокових двигунів, які встановлені в конструкції маніпулятора. Створення технологічних об’єктів дозволить перевірити правильність роботи маніпулятора в тестовому режимі, визначити та запрограмувати необхідні швидкості та прискорення, відслідкувати та виключити можливі помилки при запуску в роботу.
It is known that manipulators with automatic and handtypes of control are distinguished by the type of control system. In manipulators with an automatic type of control, the links of the executive mechanism are set in motion by servo drives operating according to a previously developed program. In manipulators with a handcontrol type, there is an operator who acts on the links of the control mechanism and drives the links of the executive mechanism. The paper presents the results of simulation the working of the manipulator with six degrees of freedom, performed in the software environment TIA PORTAL V.15.1. Namely, the first stage, creating technological objects used as digital doubles for starting stepper motors, which are installed in the design of the manipulator. The creation of technological objects will make it possible to check the correct operation of the manipulator in the test mode, to determine and program the necessary speeds and accelerations, to monitor and eliminate possible errors during start-up. To simplify the application of some technological functions that can be used together with the SIMATIC controller, the so-called Technology objects (TO) were used in the software environment TIA Port al. When using TO data, available functions are encapsulated and provided to the application developer for ease of access and convenient use in the application environment. In particular, in the area of «Motion control», such TOs are used to facilitate the control and processing of data from axes, additional motion control functions, as well as to support the developer in creating a specialized program with motion control functions. The first stage of simulation the working of the manipulator in the software environment TIA Portal was completed, namely the creation of technological objects of this manipulator, that is, the creation of digital doubles for three stepper motors of the type 28BYJ-48, which are used as drives for the task of moving the manipulator.
It is known that manipulators with automatic and handtypes of control are distinguished by the type of control system. In manipulators with an automatic type of control, the links of the executive mechanism are set in motion by servo drives operating according to a previously developed program. In manipulators with a handcontrol type, there is an operator who acts on the links of the control mechanism and drives the links of the executive mechanism. The paper presents the results of simulation the working of the manipulator with six degrees of freedom, performed in the software environment TIA PORTAL V.15.1. Namely, the first stage, creating technological objects used as digital doubles for starting stepper motors, which are installed in the design of the manipulator. The creation of technological objects will make it possible to check the correct operation of the manipulator in the test mode, to determine and program the necessary speeds and accelerations, to monitor and eliminate possible errors during start-up. To simplify the application of some technological functions that can be used together with the SIMATIC controller, the so-called Technology objects (TO) were used in the software environment TIA Port al. When using TO data, available functions are encapsulated and provided to the application developer for ease of access and convenient use in the application environment. In particular, in the area of «Motion control», such TOs are used to facilitate the control and processing of data from axes, additional motion control functions, as well as to support the developer in creating a specialized program with motion control functions. The first stage of simulation the working of the manipulator in the software environment TIA Portal was completed, namely the creation of technological objects of this manipulator, that is, the creation of digital doubles for three stepper motors of the type 28BYJ-48, which are used as drives for the task of moving the manipulator.
Опис
Ключові слова
мехатроніка, TIA PORTAL V.15.1., двигун, автоматизація, моделювання, технологічний об’єкт, цифровий двійник, digital double, mechatronics, automation, engine, modeling, technological object
Бібліографічний опис
Моделювання роботи маніпулятора в програмному середовищі tia portal v.15.1 (повідомлення 1) / П. С. Майдан, Д. А. Макаришкін, Ю. Б. Михайловський, Е. О. Золотенко // Вісник Хмельницького національного університету. Технічні науки. - 2022. - № 4. - С. 150-158.