Design and Implementation of a X–Z Positioning Control System

Garcia P.; Rojas–Moreno A. · Smart Innovation, Systems and Technologies (2022) · DOI: 10.1007/978-3-031-08545-1_41

Resumen

This work deals with the design and implementation of a prototype of an X–Z positioning control system with the purpose to locate a pneumatic tool on a predefined position of the X–Z plane. Such a prototype employs a DC servomotor with a gear train and optical encoders for each axis. Two PWM (Pulse Width Modulation) amplifiers are used to drive the servomotors. A PLC (Programmable Logic Controller) Siemens S7–1200 is employed to implement the two operation modes of positioning as well as the position control algorithms applied to the servomotors. The required HMI (Human Machine Interface) was elaborated with the tool Siemens KTP700. The first operation mode, called the free mode, permits locating the pneumatic tool arbitrarily in one of the 38 positions located on the X–Z plane. The second operation mode, named the sequential mode, allows placing such a tool in a sequential way, starting from a predetermined initial point. Experimental results demonstrated that one position is reached in less than six seconds with an error of 0.02 mm and overshoot less than 0.5%. The design of this prototype will be used to implement an automaton to clean up the 2256 pipes located on the front of a heat exchanger.

Instituciones: Universidad de Ingeniería y Tecnología