Den här rapporten beskriver arbetet med en automatiserad provrörsförflyttare. Det är ett examensarbete som har gjorts på företaget Q-linea AB. En karuselliknande konstruktion med en stegmotor användes för att flytta prover mellan ett antal positioner. En mikrokontroller som hanterar styrning och sensordata har programmerats i C. LabVIEW och en USB-kamera har använts som hjälp till att göra utvärderingar och tester av systemet. Målet var att konstruera en prototyp som uppfyllde de precisionskrav och tidskrav som ställdes, vilket också uppnåddes. Rapporten beskriver arbetsgången och avslutas med rekommendationer för fortsatt arbete. Rapporten innehåller en teoridel som kan användas till hjälp för att konstruera liknande system, d.v.s. roterande positioneringstillämpningar. / This thesis describes the work of an automated sample tube mover. This is a degree project and has been done at the company Q-linea AB. A carousel similar construction with a stepper motor has been designed for the task to move samples between a numbers of positions. A microcontroller has been programmed to control the movements and handle sensor data. LabVIEW have been used together with an USB-camera in order to do evaluations and tests of the system. The goal was to design a prototype that fulfills the demanded requirements of precision and timing, which also was achieved. The thesis describes the work process and concludes with recommendations for further work.

Η παρούσα διπλωματική εργασία πραγματεύεται την μελέτη και την κατασκεύη μιας αυτοματοποιημένης διάταξης επίστρωσης ηλεκτροδίου σε στερεό ηλεκτρολύτη για εφαρμογή σε κυψέλες καυσίμου.Η εργασία εκπονήθηκε στο Εργαστήριο Ηλεκτρομηχανικής Μετατροπής Ενέργειας του Τμήματος Ηλεκτρολόγων Μηχανικών και Τεχνολογίας Υπολογιστών της Πολυτεχνικής Σχολής του Πανεπιστημίου Πατρών. Σε αυτό το πλαίσιο,σχεδιάστηκε μια εργαλειομηχανή τύπου CNC(Computer Numerical Control),υψηλής ακρίβειας,ικανή να εκτελέσει κινήσεις σε τρείς άξονες,ελεγχόμενη από μικροελεγκτή και οδηγούμενη από βηματικούς κινητήρες. Αν και ο απώτερος στόχος της εργασίας είναι η κατασκευή της διάταξης που επιτελεί το επιθυμητό έργο,προηγήθηκε εκτενής θεωρητική μελέτη και ανάλυση όλων των χαρακτηριστικών και παραγόντων του συστήματος. Αρχικά,γίνεται αναφορά στις κυψέλες καυσίμου,στους διάφορους τύπους της συγκεκριμένης τεχνολογίας καθώς και στις εφαρμογές που αυτή ενσωματώνεται. Οι κυψέλες καυσίμου,ως αντικείμενο επιστημονικής μελέτης αλλά και ως εμπορευματικό προϊόν παρουσιάζει εξαιρετικό ενδιαφέρον και έχει απασχολήσει σε μεγάλο βαθμό την επιστημονική κοινότητα τα τελευταία χρόνια λόγω της μεγάλης αποδοτικότητάς τους στην παραγωγή ενέργειας αλλά και της φιλικής προς το περιβάλλον λειτουργίας τους. Εν συνεχεία,αναλύεται ο όρος αριθμητικός έλεγχος και αναλύονται οι εφαρμογές στις οποίες αυτός χρησιμοποιείται ενώ παράλληλα γίνεται αναφορά στο μηχανολογικό τμήμα της κατασκευής,στα υλικά και στο σχεδιασμό τέτοιων διατάξεων. Σημαντικό μέρος της εργασίας αφιερώθηκε στους βηματικούς κινητήρες που επελέχθησαν ως κινητήρες προώσεως της εργαλειομηχανής.Αναλύονται τόσο οι τύποι βηματικών κινητήρων όσο και ο έλεγχος τους ενώ ακόμα παρουσιάζεται και η στατική αλλά και η δυναμική τους συμπεριφορά σε ένα σύστημα. Τον ‘’εγκέφαλο’’ της διάταξης αποτελεί ο μικροεπεξεργαστής που ενσωματώνει το πρόγραμμα λειτουργίας της εργαλειομηχανής,ο οποίος αναλύεται σε μεγάλο βαθμό ξεκινώντας από τον ορισμό του,τη φύση της λειτουργίας του και καταλήγωντας στον ειδικότερο ρόλο που διαδραματίζει στο κύκλωμα ελέγχου της διάταξης. Ακόμα, περιγράφεται η αρχή λειτουργίας και η κατασκευαστική λογική της πλακέτας ελέγχου και οδήγησης του συστήματος.Τα συμπεράσματα της εργασίας και οι μελλοντικές επεκτάσεις που πιθανώς η διάταξη επιδέχεται παρουσιάζονται ως επίλογος. / The purpose of this thesis is the construction of an automated device that coats electrodes in to solid electrolyte for application in fuel cells. The project was conducted in Electromechanical Energy Conversion Laboratory, at Department of Electrical and Computer Engineering of the University of Patras. In this context, a CNC (Computerized Numerical Control) machine, capable of carrying out movements in three axes, controlled by stepper motors was designed. Although the ultimate purpose is the construction of such a device, an extensive theoretical study and analysis of all parameters and characteristics of the system was preceded. Initially, a reference to fuel cells is being made, describing the different types of the technology and the applications which fuel cells are incorporated. In general, fuel cell technology as an object of theoretical study and as a commodity product as well, is considered to be of high scientific interest, due to its high efficiency and it’s environmental friendly operation. In addition, a general definition of numerical control is being given relatively to its applications, providing a special interest in the mechanical design of systems that incorporate this particular method of control. A significant part of the project was consumed by the analysis of stepper motor behavior, both static and dynamic. Different types of stepper motors are being described along with several types of control schemes. Extensive description of the system’s incorporated micro-controller has been made, from its general description down to its specialized role to the system. Finally, the basic principles of operation are being described, given a special interest in to the board of control and drive of the system. The evaluation of the project’s status as well it’s future development were given as final conclusions.

No description available.

This thesis has explored if it is feasible to produce a good estimation of the rotational position of a stepper motor by using sensor fusion schemes to merge a sensorless position estimation (based on the back electromotive force) with the measurement from a magnetic rotational position sensor. The purpose was to find a cheaper alternative for position feedback in closed loop control from conventionally used rotational encoders and resolvers. Beyond the sensor fusion a suitable position control logic was also developed to verify the concept of a low cost closed loop hybrid stepper motor solution for high precision position applications. The sensor fusion and position control were simulated offline to first test the feasibility of the implementation, after which laboratory tests were performed to assess online performance. The extended Kalman filter implemented improved the performance of the magnetic rotational position sensor which was used exclusively at lower speeds (between 0-75 rpm) by decreasing its root-mean-square error by almost half from 0.0733 unfiltered to 0.0370 filtered (in mechanical degrees). When fusing both position signals at higher rotational speeds (75-400rpm) did the extended Kalman filter clearly improve position estimation accuracy compared to the single sources. It is not meaningful however to discuss the numeric improvement of the filter at these working points as this result is not conclusive but based on some fortunate conditions. This is because the two signals used for the fusion is diverging towards positive and negative error respectively for increasing rotational speeds making the fused estimate result in between. This basically means that the result from the fusion is outperforming two very bad signals, and is then not meaningful to use as a measure of how well the fusion is actually performing. Further work on the raw signals used for fusion need to be performed before a proper assessment on the fusion performance could be made.

This diploma thesis deals with the issue of fast high-quality prototype production of printed circuit boards for the needs of the mechatronics lab. Within the scope of this thesis a prototype machine was proposed and created together with control software, which by the help of DLP projector and two stage axis allows to produce printed circuit board in relatively short period of time.

This paper describes the design of Stepper motor controller module controlled over Ethernet for positioning system. Part of this work describes analysis of the assignment, design of modular circuit, choosing right components and prototype design of communication and power module. In another part each module is described with emphasis to modularity. It deals with description of manufactured prototypes and their tested paramethers.

The master thesis deals with the design of device used for gun prototypes testing purposes. It aims at electrical part of the design which controls a stepper motor which through mechanical gear initiates trigger of tested prototype periodically. The core of design consists of the DRV8711 integrated circuit which controls a stepper motor. The integrated circuit is using the microstepping driving technique. The main logic of designed device is controlled by PIC32 microcontroller unit which also communicates with PC through USB bus.

This diploma thesis deals with the structural and optomechanical design of automatization of focusing laser beam for a remote laser spectroscopy device. The chosen solution uses an active rangefinder and a rotary unit to control the change of the focus plane of the device's optic system. The dependence of the focus plane’s change on the shift of lens in the focus plane was practically measured. For proper control of the rotary unit, this dependency is needed. Structural parts were made based on the created drawing documentation. The structural parts were mounted in the existing assembly of the device together with the purchased components. The proposed solution enables a change of the optical system, for example, in order to obtain a more appropriate range of focal planes.

This diploma thesis deals with the design and implementation of an automatic Air hockey player. In particular, a gaming table and a kinematic type of H-bot robot and electronics are designed. The movement of the robot is ensured by two stepper motors, which are controled by the Arduino Micro using timer interrupts. The thesis is improved by additional elements, such as goal detection using photoelectric sensors and automatic firing of the puck from the goal and others. The Air hockey robot was practically realized in cooperation with Ondřej Sláma.

This master´s thesis deals with the modernization of the EMCO milling machine control system. The theoretical part is focused on the basic description of CNC machine and current state of EMCO milling machine control system. The main point of this thesis is new control system design for given milling machine, when the proposed variants are described and compared according to construction and price. The one variant is selected that best suits the specified parameters. Also, in the TwinCAT development interface from Beckhoff the new control system is created and described in the end of this work.