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Position Control of a Turret Using LabVIEW

100%
Saygin A., Rashid A.
Acta Physica Polonica A
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2017
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vol. 132
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issue 3
970-973
EN
Servo motors are commonly used for axial motion control of gun turrets. In this study, horizontal and vertical position control around two axes of motion of a gun turret was realized using LabVIEW software. Communication with Siemens s7-300 CPU315-2 PN/DP PLC has been realized using KEPServerEX software and using OPC tools in LabVIEW. KEPServerEX software was used to transfer motor control and status data between the PC and PLC. PLC was used to control the AC servo drivers using ProfiBUS protocol, in accordance with commands sent from LabVIEW. Servo motors with connected S110 CU305DP servo drivers have been controlled according to control data received from the PLC. Scout software was used for uploading communication and position commands and for changing factory defaults of AC servo drivers. Furthermore, status control and input of commands have been realized using a touch panel. All PLC and touch panel programming have been performed on TIAPortal V13SP1. Thus, the position control of gun turret has been provided using both, PC and the touch panel.
2
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Active Suspension Based on Low Dynamic Stiffness

80%
Snamina J., Kowal J., Orkisz P.
Acta Physica Polonica A
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2013
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vol. 123
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issue 6
1118-1122
EN
The paper presents an active vibration control system based on low dynamic stiffness of suspension. Using a simple two degrees-of-freedom system a few basic concepts of lowering suspension dynamic stiffness are presented. Through reducing the dynamic component of force between the protected subsystem and remaining part of the system, considerable vibration suppression is achieved. Linear and nonlinear algorithms are proposed. In the case of nonlinear control algorithm, the sufficient link between the protected subsystem and the remaining part of the system necessary to change the position of the protected subsystem is maintained. Experiments described in the paper cover two different cases. In the first case, the suspension operated as the passive suspension, while in the second case, the active reduction system was included. The results are presented graphically.
3
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Comparison between Real Time PID and 2-DOF PID Controller for 6-DOF Robot Arm

80%
Adar N., Kozan R.
Acta Physica Polonica A
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2016
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vol. 130
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issue 1
269-271
EN
Robotics and its applications have become increasingly important in the field of manufacturing industry. Robot manipulators are effectively used for this purpose. Control of manipulators is very important, however, highly nonlinear and multi-input multi-output (MIMO) complex structure of manipulators make the control difficult. This paper presents two-degree of freedom PID controller scheme for a six-degree of freedom rigid robotic manipulator. Traditional PID controllers are widely used due to their simple control structure and ease of implementation in industry. However load disturbances and parametric variation affect the robustness of the controller. The performance of proposed two-degree of freedom PID controller is compared with the traditional PID controllers. Matlab-Simulink program is used for real-time implementation of the proposed method. Experimental results show that two-degree of freedom PID control is better than the traditional PID for manipulator control in real time.
4
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Electronic System and Software Architecture of Modular Reconfigurable Robot Module OMNIMO

80%
Kiliç A., Kapucu S.
|
EN
A robot is an electromechanical system, which is guided by software via electronic circuitry. In the absence of electronic systems, there is no way to make a connection between software and mechanical components. This means that all robotic systems require mechanical systems, electronic systems and software. OMNIMO, as a modular reconfigurable robot, has sophisticated electronic systems and software. Electronic system of OMNIMO includes controllers, actuators, transducers, communication units, regulators, batteries, user interface units and complementary components. In addition, OMNIMO is controlled by four different layers of software. In this paper, electronic hardware details, system integration and control software architecture of modular reconfigurable robot module OMNIMO are presented. In addition, adaptation of components and communication protocol details of hardware are given.
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