Abstract
This paper presents some of the issues related to the implementation of advanced control structures (PI controller with additional feedback, Model Predictive Controller) for drives with elastic coupling on a programmable logic controller (PLC). The predominant solutions to electric drive control include the use of rapid prototyping cards, signal processors or programmable matrices. Originally, PLC controllers were used to automate sequential processes, but for several years now, a trend related to their implementation for advanced control objects can be observed. This is mainly due to their compact design, immunity to disturbances and standard programming languages. The following chapters of the paper present the mathematical model of the drive and describe the implementation of the proposed control structures. A PI controller with additional feedback loops and a predictive controller are taken into consideration. Their impact on the CPU load was analysed, and the work was summarised by a comprehensive experimental study. The presented results confirm that it is possible to implement advanced control structures on a PLC controller for drives with elastic coupling while maintaining a sufficiently low load on its CPU.
Highlights
In modern drive systems, the aim of the control is to minimise the time necessary to reach a reference value as well as to increase the requirements related to disturbance damping [1]
A PI controller with additional feedback loops and a predictive controller are taken into consideration
Since the speed was determined using the information from the fast counter, it had to be calculated on that basis
Summary
The aim of the control is to minimise the time necessary to reach a reference value as well as to increase the requirements related to disturbance damping [1]. For systems with high resonant frequencies, the possibilities of vibration damping are virtually restricted to the application of methods based on use of digital filters [7,8] This is due to the fact that for other methods, the microprocessor controller would not be able to calculate the control signal sufficiently quickly, and the executive system (the converter and the electromagnetic part of the motor) would not have enough time to generate it. In the following work two structures were implemented and compared: a PI controller with additional feedbacks (commonly used in industrial practice, low computational complexity) and a predictive controller with linear state-space model (effective control, higher computational complexity). The main conclusion of the work is that it is possible to implement an advanced control structure for a drive with elastic coupling on a PLC controller while maintaining an acceptable level of its CPU load
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