This paper focuses on the dynamic modelling of a recent mechatronic device called independent carts system. Different companies gave different commercial names, but the mechanics behind is the same: different linear motors on a closed loop, controlled individually to increase the flexibility but keeping the speed of dedicated solutions, such as mechanical cams or chains. The proposed model covers both the mechanical and control parts of the systems. In this paper the preliminary results are shown, and the model is validated on a real independent carts system by Rockwell Automation. The mechanical model is assumed to be a planar model and the moving carts are supposed to be rigid bodies moving along a rail. Friction and gravity effect are taken into account. The electrical model comprises three PID control loops. The aim of this model is to simulate the behavior of the system in order to evaluate different scenarios and architectures of new machines, decreasing the cost of development and the time to market.
Dynamic model of an independent carts system / CAVALAGLIO CAMARGO MOLANO, Jacopo; Rossi, Stefano; Cocconcelli, Marco; Rubini, Riccardo. - 47:(2017), pp. 379-387. (Intervento presentato al convegno 1st International Conference of IFToMM ITALY, IFIT 2016 tenutosi a ita nel 2016) [10.1007/978-3-319-48375-7_41].
Dynamic model of an independent carts system
CAVALAGLIO CAMARGO MOLANO, JACOPO;COCCONCELLI, Marco;RUBINI, Riccardo
2017
Abstract
This paper focuses on the dynamic modelling of a recent mechatronic device called independent carts system. Different companies gave different commercial names, but the mechanics behind is the same: different linear motors on a closed loop, controlled individually to increase the flexibility but keeping the speed of dedicated solutions, such as mechanical cams or chains. The proposed model covers both the mechanical and control parts of the systems. In this paper the preliminary results are shown, and the model is validated on a real independent carts system by Rockwell Automation. The mechanical model is assumed to be a planar model and the moving carts are supposed to be rigid bodies moving along a rail. Friction and gravity effect are taken into account. The electrical model comprises three PID control loops. The aim of this model is to simulate the behavior of the system in order to evaluate different scenarios and architectures of new machines, decreasing the cost of development and the time to market.File | Dimensione | Formato | |
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