Regulacija brzine vrtnje elektrohidrauličkog vitla

master's thesis

• Title (english): Speed control of the electro-hydraulic winch
• Author: Lovro Tvrz
• Mentor: Željko Šitum (mentor)
• Mentor: Juraj Benić (komentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-07-20, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom diplomskog radu je opisan eksperimentalni postav elektrohidrauličkog vitla, njegovi glavni dijelovi i način rada. Vitlo se koristi na šumskom zglobnom traktoru za izvlačenje posječenih stabala iz šume. Regulacijom brzine vitla omogućuje se: precizno upravljanje vitlom što je ključno za sigurnost u radu, kontrolu opterećenja tijekom operacije izvlačenja, optimizacija procesa i zaštita opreme na stroju. U nastavku rada se govori o programskim alatima TwinCAT 3 koji služi za izradu upravljačkog programa za izvođenje na PLC-u i programu IndraDrive za podešavanje parametara servomotora radi dobivanja optimalnog rada sustava. Taj dio rada je uvod u završni dio rada u kojem se govori o izradi upravljačkog programa. Programom se zadaju reference brzine u obliku odskočne i sinusne funkcije koje sustav treba pratiti sa što manjom pogreškom regulacije. Na samom kraju je opisano podešavanje parametara PI, PID i I-PD regulatora, te su analizirani dobiveni rezultati.

Abstract (english)

This paper will attempt to describe the experimental setup of an electrohydraulic winch, it's main components and working principles. Furthermore, paper will also discuss software tool TwinCAT3 which is used for creating control program compatible with PLC and software tool IndraDrive which is used for adjusting parameters of servo motors in order to achive as optimal optimal system operation. Before-mentioned topics serve as an introduction to the final part of the paper in which process of creating control program is described in detail. Program is used for assigning referent values of speed in the form of step function and sine function that should follow the system with the smallest possible regulation error. Final part of the paper describes the process of adjusting the parameters of PI, PID and I-PI controllers and lastly, the analysis of obtained results is presented.

• Keywords: TwinCAT3; PLC; regulacija brzine; PID regulator
• Keywords (english): TwinCAT3; PLC; speed regulation; PID controller
• Language: croatian
• URN:NBN: urn:nbn:hr:235:442281
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Embargoed access; Embargo expiration date: 2025-07-20
• Created on: 2023-07-09 14:58:30