Mechatronic automatic control system of electropneumatic manipulator

Abstract

Mechatronic systems of electropneumatic automation are one of the main classes of industrial automation systems. A laboratory stand for the study of the mechatronic system of automatic control of the pneumatic manipulator and a computer model for preliminary experiments on the adjustment of the automatic control system were developed. Manual and software control modes are provided for research of indicators of safety and quality of management in both modes. To implement the software control mode, a microcontroller part of the laboratory stand based on ADuC841 was developed, with the help of which it is possible to simulate a part of a certain technological process, to detect and eliminate faults in the automatic control system. A study of automatic control systems using a traditional relay-contactor control system, based on GrafCet technology and using a virtual controller. The combination of computer modeling of technological processes and physical modeling of executive mechanisms is a kind of digital double that displays its state, parameters and behavior in real time. The use of a laboratory stand in combination with an adequate simulation model reduces the complexity of developing control systems for practical applications, and also contributes to the formation of students' creative component, ability to analyze the results, and make decisions in unusual situations, which will increase their theoretical and practical training. The study of mechatronic systems of pneumatic manipulators will allow to increase their efficiency and productivity, to optimize their speed and accuracy for various applications in production. The interaction of mechatronic systems of pneumatic manipulators with other technologies, such as machine learning, artificial intelligence, IoT is the basis for creating more integrated and intelligent systems.