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GRIN Verlag Modellbasierte Positions-, Geschwindigkeits- und Kraftregelung eines 2D Portalsystems

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£56.50 £55.84 £55.98 £56.13 £56.27 £56.42 £56.56 13 May 2026 21 May 2026 30 May 2026 07 June 2026 16 June 2026

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Description

Diplomarbeit aus dem Jahr 2017 im Fachbereich Ingenieurwissenschaften - Allgemeines, Note: 1, Technische Universiät Wien (Automatisierungs- und Regelungstechnik), Sprache: Deutsch, Abstract: Die vorliegende Arbeit behandelt die Positions-, Geschwindigkeits- und Kraftregelung eines Portalsystems. Dieses besteht aus zwei Linearachsen mit Spindelantrieb, welche senkrecht zueinander montiert sind. Die vorgeschlagenen Regelungsstrategien bieten diverse Möglichkeiten für unterschiedliche Handhabungsaufgaben in einem definierten kartesischen Arbeitsbereich. Aufbauend auf den Modellgleichungen wird eine Parameteridentifikation und Modellvalidierung durchgeführt. Die Parameteridentifikation bezieht sich auf die Reibparameter und die bewegten Massen des Systems. Für die Positions- und Geschwindigkeitsregelung werden Methoden der exakten Eingangs-Ausgangslinearisierung angewandt. Die Solltrajektorien für die Geschwindigkeitsregelung können über einen montierten Joystick vorgegeben werden. Dies erlaubt ein interaktives Einlernen von einfachen Handhabungsaufgaben. Die Positions- und Geschwindigkeitsregelung liefert ein sehr gutes Trajektorienfolgeverhalten, welches auch experimentell bestätigt wurde. Im Weiteren wird eine Impedanzregelung mit einem Sensor und einem Beobachter realisiert. Hierbei bestätigen Untersuchungen, dass die Impedanzregelung eine sehr hohe Güte aufweist. Sämtliche Regelungsstrategien werden anhand von Simulation getestet und am Prüfstand implementiert.

Product Specifications

Format
paperback
Domain
Amazon UK
Release Date
06 November 2017
Listed Since
07 November 2017

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