Post on 31-May-2018
8/14/2019 Introduzione alla Meccatronica: gli strumenti necessari per progettare macchine pi efficienti in meno tempo
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National Instruments Confidential
Introduction to Mechatronics
Marco Castellano
Field Sales EngineerSouth Italy
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The Evolution of Machines
Mechanical SystemGears, cams, and limi t switches Electromechanical SystemElectronic controls,
motor drives
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Modern Machine Bui lders Diverse Requirements
MechanicalDesign
Discrete and Sequential Logic
Motion Control Design
Logging , Database
HMI
Networking
Machine ConditionMonitoring
Machine VisionMotors and
Actuators
Sensors and SignalConditioning
Modern
Machine
Embedded System
Design
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Trends to Reduce Development Time
Sequential Design Concurrent Design
Physical
First Prototype
Virtual
First Prototype
Separate Design
Tools
Integrated Design Tools
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Traditional Approach to
Electromechanical Machine Design
Poor communication between design groups
Long development time with high riskPoorly optimized design
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Mechatronics
Mechatronics is a holistic approach to designing
machines that combines mechanical, electrical, control
and embedded software
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Mechatronics Approach to
Electromechanical Machine Design
Shorter, lower cost development cycles Improved quality, reliability, and performance
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Mechanical
Design
Electrical
Design
VirtualPrototype
(Simulation)
1. Design Tool Integration
Embedded
Design
Control
Design
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Level of Design Tool Integration
Ultimate One design tool for all disciplines
Manual Manually pass data between tools
Basic Data transferred via standard file formats Motion profile data as CSV file to CAD
Advanced Complete tool automation
NI LabVIEW automating SolidWorks through ActiveX
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Open Connectivity to Design Tools
MATLAB and Simulink are registered trademarks of The MathWorks, Inc.
Mechanical DesignSolidWorksSolidWorks
PTCPro/EngineerMSCNastran andAdams
AutodeskAutoCAD
MathematicsNI LabVIEW Math
The MathWorks, Inc. MATLAB
MaplesoftMaple
MathSoftMathcad
Control DesignNI LabVIEW Control Design
The MathWorks, Inc. Simulink
DynasimDymola
PleximPLECS
Embedded SoftwareNI LabVIEW Real-Time/Embedded
Wind RiverWorkbenchAnalog Devices VisualDSP++
FreescaleCode Warrior
XilinxSystem Generator
Electrical DesignNI LabVIEW (Motor Sizing)
NI Multisim
ORCADPSpice
AnsoftDesigner
Virtual
Prototyping
Platform
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LabVIEW: Virtual Prototyping Platform
Intuitive graphical tools fordomain experts
Built-in control design and
simulation
Design tool integration Flexible, open architecture
Ability to target multiple
industrial hardware platforms
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Virtual Machine Prototyping
Conceptual
Design
Design
Requirements
Virtual Machine
Prototype
(Simulation)
Mechanical: Design visualization
Electrical: Motor sizing
Control: Verify control logic
Embedded Software: Easy implementation
TeamCustomer
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Challenge: Understanding the requirements
Solution: Electromechanical simulation
Benefits:
Improved customer communication Confidence builder: showing proof of concept Competitive advantage in the bidding process
Improved design team communication
Refining design specifications
Evaluating high-level architectural design
Mechanical Design Challenges
Use control logic to visualize the working machine.
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Electromechanical Simulation Steps
1. Determine machine logic
2. Generate profile data with virtual prototyping software
3. Send to 3D design tool
4. Use CAD tool to animate machine functionality
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Software Tools SolidWorks Professional
COSMOSMotion
LabVIEW Professional
Free SolidWorks/LabVIEW ActiveX Interface VIs
NI Motion Assistant
SolidWorks LabVIEW
Interface Functio ns
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Mechanical
Design
Electrical
Design Virtual
Prototype(Simulation)
System
Specification Manufacturing
Test System
Design
Manu-
facturing
Support
and
Service
Sustaining
Engineering
Physical
Prototype
Electrical Design
Embedded
Design
Control
Design
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Challenge: Specifying correct motor size
Solution: Virtual motor sizing
Benefits:
Apply motor sizing principles interactively
Virtually test various motors
Electrical Design Challenges
Type (AC/DC, brushed, and so on)
Torque versus speed requirements
Heat dissipation
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Virtual DC Motor Sizing
+
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-
R Li
dt
dKv
ee
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diLv
L =
iRvR=
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1. Acquire motor specifications from data sheet
2. Simulate motor response to velocity and torque profile
from CAD
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Mechanical
Design
Electrical
Design Virtual
Prototype(Simulation)
System
Specification ManufacturingTest System
Design
Manu-
facturing
Support
and
Service
Sustaining
Engineering
Physical
Prototype
Control Design
Embedded
Design
Control
Design
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Challenges:
Software development in critical path
Physical prototype needed to test control algorithm
Solution: Develop and test control algorithm on virtual model
Benefits:
Control Design Challenges
Get head start on control development
Refine control strategy before physical prototyping
Detect interferences and resonance
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Integrating Control and Mechanical
Design
Command
Control Software Simulation
1. Develop machine control logic
2. Animate model and identify potential issues
Feedback
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1. Motion Profile
2. Interference Detection
Demo: Interference Detection
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Mechanical
Design
Control
Design Virtual
Prototype(Simulation)
System
Specification ManufacturingTest System
Design
Manu-
facturing
Support
and
Service
Sustaining
Engineering
Physical
Prototype
Embedded Software Design
Embedded
Design
Electrical
Design
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Challenge: Implementing embedded algorithms
Solution: Using control design software that runs
natively on embedded hardware
Benefits: Reduced development time and cost
Less chance for translation errors
Embedded Software Design
Challenges
Rewriting code for hardware platform
Flexibility to implement advanced algorithms
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Algorithm Engineering
Design
Software Hand Code
Prototype
Hardware
Verify
Algorithm
Its the term used to describe this process of designing a control
algorithm and taking it to a prototyping hardware for physicaltesting and final deployment.
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Algorithm Engineering
DesignSoftware
PrototypeHardware
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Challenge: Choosing the right prototyping platform
Solution: Using packaged FPGA-based PAC
hardware platform
Benefits:
Prototyping and Deployment Challenges
Reliably run custom control algorithms
Integrate any I/O including machine condition monitoring and
vision
Protect IP (Intellectual Property)
Controller speed and memory
I/O from specialty signals Ability to implement advanced control
algorithms
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Deployment Hardware
Desktop PCs
Industrial PCs
Programmable automation
controllers (PACs) Programmable logic
controllers (PLCs)
Custom boards
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Programmable Automation Controller (PAC)
Ruggedness and reliability of PLC
Software capabilities of PC
Modular and diverse I/O
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Custom
PLCSBC
FPGA-Based Programmable
Automation Control ler
NI CompactRIO
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Integral part of all mechatronics systems
Improves machine productivity
NI PACs for motion control:
PCI and CompactPCI/PXI
Custom motion control with FPGA
Distributed motion over CANopen
Additional Design Considerations:
High-Performance Motion Control
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New for NI Motion
Two new stepper drives 1-axis, DC-powered: 300 W
1-axis, AC-powered: 525 W
Range of 30 new stepper motors NEMA 17, 23 and 34 sizes
Torque up to 1710 oz-in
Motor sizing software
ni.com/motion/stepper
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Why use machine vision? Increase product throughput
Reduce product inspection cost
Use infrared, X-ray
Applications Manufacturing
Product testing
Product packaging
Robot guidance
Additional Design Considerations:
Machine Vision
Addi i l D i C id i
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Additional Design Considerations:
Machine Condition Monitoring
DataAcquisition
DataAnalysis
Diagnosis andControl
Motor
Gear
Health
Alignment
Unbalance
MechanicalResonances
Loose
Mounting
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Conclusion
Mechatronics concurrent development:
Reduces development time and risk
Requires design tool integration
NI offers an easy path to deploy mechatronics
systems