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This paper describes the development of Phollower—an autonomous mobile robot intended to perform various logistical tasks in both industrial and civil environments. Phollower is equipped with the latest types of industrial components and sensors. It also employs advanced embedded navigation and localization software to create its own virtual maps and thereby to navigate autonomously within the mapped area. The whole development process has been focused on building a device that meets European safety standards. Phollower is a universal mobile platform that can be quickly expanded with specialized add-ons. A germicidal add-on for disinfection of indoor areas using UV-C light is described as a technology that helps to battle with the ongoing COVID-19 pandemic crisis. The hardware topology combined with the proposed open Programmable Logic Controller (PLC) code and open-Powerlink communication bus creates a unique and easily extendable robot platform.

Original scientific paperDynamic emulation of mechanical loads presents a modern and interesting approach for testing and validating performance of electrical drives without a real mechanical load included in the test rig. The paper presents an approach to dynamic emulation of mechanical loads when the load torque and inertia mass of emulated load can be significantly greater than that of laboratory test rig. Closed-loop control of load torque and feedforward compensation of inertia and friction torques are used in a test rig. The approach is focused on the use with standard industrial converters. The described method can be used for design and validation of speed control algorithms in mechatronic applications. Experimental results with the emulation of linear loads are presented in end of the paper.Key words: Dynamic emulation, Test rig, Industrial drive, RT-LAB Dinamička simulacija mehaničkih opterećenja -pristup zasnovan na svojstvima industrijskih elektromotornih pogona. Dinamička simulacija mehaničkih opterećenja predstavlja moderan i zanimljiv pristup testiranju i validaciji ponašanja elektromotornih pogona bez uključenog stvarnog mehaničkog opterećenja u eksperimentalni postav. U radu je predstavljen pristup s dinamičkom simulacijom mehaničkih opterećenja za slučaj kada moment tereta ili moment tromosti simuliranog tereta mogu biti daleko veći od onih dostupnih u eksperimentalnom postavu. U postavu se koristi upravljanje momentom tereta u zatvorenoj petlji uz unaprijednu petlju kompenzacije momenta tromosti i momenata trenja. Pristup je usmjeren na upotrebu standardnih industrijskih pretvarača. Opisana metoda može se koristiti za sintezu i validaciju algoritama za upravljanje po brzini u mehatroničkim primjenama. U radu su predstavljeni eksperimentalni rezultati za slučaj simulacije linearnih tereta.Ključne riječi: dinamička simulacija tereta, eksperimentalni postav, industrijski elektromotorni pogon, RT-LAB

The paper describes the design procedure for a finite control set model predictive control (FCS-MPC) of brushed permanent magnet DC (PMDC) machine supplied from DC-DC converter. Full order linear Kalman filter is used for estimation of an unmeasured load torque and reduction of speed measurement noise. A new cost function has been introduced with a feedforward dynamic current component and a feedforward static load current component. The performance of the proposed control strategy is compared to the conventional PI-PWM cascade speed control through the experimental verification on the 250 W laboratory prototype. Obtained results show excellent dynamic behaviour and indicate possible energy savings of the proposed speed control.

The paper presents the position control of a permanent magnet synchronous motor by using the finite control set model predictive control. The position, speed and acceleration references are generated by a ramp generator. A new cost function, including feed-forward and load torque compensations, is introduced. In order to save the computational power, a combination of a predictive speed control with proportional position controller is explored as well. Presented methods are compared to the conventional field oriented control structure by a simulation.