Abstract In this bachelor thesis we focus on how the computer software LabVIEW test is used to a DC-motor through as a hardware incremental encoder and a USB-6009. By using LabVIEW, we can do pulse counting, voltage changing test, voltage signal acquiring and some other observing jobs. This paper is a report of our mechanical operation and calculative work about the DC motor as well. The using DC motor's model number is E-660. Since we cannot find the official data of the DC motor we need, we tried to find some similar motor model to compare. Fortunately, we find some data. Even it is unofficial data from eBay website. However, these data can be seen as reference of our motor. Therefore we can compare the data from the laboratory and the theoretical ones. For the other part of the thesis is about the incremental encoder, the model we used in project is DG 63 KA. We just can find a similar type and it as a reference. The model we find similar to the actual one is DG 60L and through the measurement and comparison, we manage to test the encoder pattern is the same as the reference.     Eventually, we can still do some calculations and analysis with the measured data. We also can summarize some content according to the referential data with the similar DC motor. / 摘要 在此学士论文中我们主要将重点放在LabVIEW电脑软件测试如何通过硬件设备增量式编码器和USB-6009应用到直流电机上。通过使用LabViEW， 我们可以进行脉冲计数，电压变化测试，电压信号采样和其它观测工作。 这份报告同时也包括对直流电机的机械操作和计算工作。我们使用的直流电机型号为E-660。由于我们未能找到我们需要的直流电机的数据，我们尝试去找到一些相似的型号来比较。幸运的是，之后我们找到了一些数据。尽管数据是来自eBay的非官方数据。然而，这些数据可以作为我们电机的参考。因此我们可以使用这些理论数据和我们从实验得出的数据进行比较。 论文的另外部分是关于增量式编码器，我们在论文中使用的编码器型号是DG 63 KA。我们只能找到一些类似型号作为参考。我们找到的和实际使用的类似编码器型号为DG 60L 并且通过测量和比较，我们成功证实编码器的模式和参考中的相同。 最终，我们还对测量的数据进行了计算和分析。我们同时也根据类似的直流电机的参考数据进行总结。

This thesis describes circuit design and realization for differential control of mobile robot. Control system is based on microcontroller STM32 of company STMicroelectronics, which selection is discussed too. Part of the work thesis is description issues concerning differential control of mobile robot, DC motor cotrol with incremental encoder including cascade control and implementation of cotrol algorithms.

Orientador: Jozué Vieira Filho / Banca: Carlos Antonio Alves / Banca: Tony Inácio da Silva / Resumo: A automação de esteiras rolantes é algo comum e importante em sistemas industriais, mas problemas práticos ainda representam desafios. Um dos desses desafios é manter a precisão em sistemas que exigem paradas sistemáticas, pois folgas mecânicas tendem a provocar variações nas posições de paradas ao longo do tempo. A aplicação de motores de indução têm se tornado comum e soluções eficientes e de baixo custo têm sido pesquisadas. Neste trabalho foi desenvolvido e implementado um sistema de controle de posição e velocidade aplicado em esteiras transportadoras utilizando inversor de frequência, microcontrolador, encoder óptico incremental e sensor indutivo. O movimento da esteira transportadora é efetuado por um motor de indução trifásico, que é acionado pelo conjunto microcontrolador - inversor de frequência. Este conjunto impõe uma frequência no estator do motor através de uma troca de mensagens entre microcontrolador e inversor de frequência (Sistema Mestre-Escravo). Para o envio e recebimento das mensagens, utilizou-se o protocolo de comunicação serial USS® (Universal Serial Interface Protocol) através do padrão RS-485. Os controles de posição e velocidade de rotação do eixo do motor fundamentam-se no sinal gerado pelo encoder óptico incremental, responsável por informar a posição do eixo do motor ao longo da trajetória, e no sensor indutivo que determina uma referência externa importante para a esteira transportadora. Para o funcionamento automático da esteira, elaborou-se um software em linguagem de programação C. Como resultado obteve-se um sistema de controle de posição e velocidade do eixo do motor de indução trifásico que apresenta bons resultados / Abstract: Automated conveyors system have been largely used in industrial applications. However, there are still practical issues to be overcome. One of them is due to the system mechanical limitation which can lead to low accuracy for applications based on "stop-and-go" movements. Induction motors have been largely used in such applications and low costs solutions have been searched. In this work it was developed and implemented a system of positioning and velocity control applied to conveyors which is based on frequency inverter, microcontroller, optical incremental encoder and inductive sensor. The conveyor's movement is made by means of a three-phase induction motor, which is driven by the couple microcontroller-frequency inverter. There are messages exchange between the microcontroller and the frequency inverter (Master - Slave configuration) which is based on the communication serial protocol USS through the RS-485 standard. The position and velocity of the motor spindle are controlled using an optical incremental encoder, which is responsible to provide the position of the trajectory, and an inductive sensor which determines the initial reference to the conveyor. The software used to control the system was developed in C language. The results show a low cost system with good results / Mestre

The aim of the thesis is the design machines for laser cutting and plasma workspace 2.0 x1, 8 meters. The work described technology laser cutting and plasma and the resulting demands on the machine. Longer work includes a search of design solutions, then the actual design, including the necessary calculations and drawings.

This diploma thesis implements methods for a measurement of rotational speed. It is implemented on the Compact RIO platform from National Instruments. Corresponding SW is implemented using the graphical programming language G in LabView environment. Developed system uses two different sensors – incremental encoder and tacho sensor for measurements of rotational speed. Thesis further analysis and implements a method for an encoder nonlinearity determination and for its on-line correction. For used methods, effects adding errors into the measurements are evaluated and quantified.

Currently, there are various training machines that can support training of the muscles while the muscles are lengthened, also known as eccentric training. Training machines that are widely used to train the muscles eccentrically utilize a flywheel to generate load to the user. When training the muscles eccentrically with such a machine, there is a desire to accomplish eccentric overload, which is achieved when the muscles under training are exposed to a very high load during eccentric training of these muscles. To achieve this, the user needs to activate other muscles that are not in the focus of the training or be assisted by another person. In this study, a novel, smart flywheel training machine was developed by implementing electric motor and sensors, which could identify the exercise pattern of the user and help achieve desired eccentric overload. This study focused on how the system performance of such training machine interacting with human beings was affected by various grade of sensor feedback. With an increased resolution of the sensors and a lower sample time, the cost of the system is increased, and it was therefore of interest to study what grade of sensor feedback was required. More exactly, this study evaluated how the system performance was improved when sensor resolution was improved, what resolution and sample time were required for the system to perform correct and safely and last, how noise and disturbances affected the system. The study was conducted in a simulated environment in Matlab and Simulink, and some real tests and experiments were also performed on the existing flywheel training machine. An incremental encoder was implemented in the system and resolution of the encoder, as well as sample time, were tweaked in the simulation to test different combinations of these. The results showed that both resolution and sample time had an impact on the system performance. A higher resolution resulted in a smaller tracking error to some extent, but after a certain value the system became unstable if the sample time was not small enough. Noise and disturbances had a minor impact on the system performance. It was concluded that the best choice of encoder resolution was 0.0314 radians with a sample time of 0.01 ms. Even lower resolution such as 0.628 rad, 0.126 rad or 0.0571 rad with a sample time of 0.1 ms could be allowed and should be considered safe. However, the system might not perform as desired if these alternatives are chosen, although the alternatives might decrease the cost of the system. / I nuläget finns det olika träningsmaskiner som kan stödja träning av muskler där musklerna förlängs, även känt som excentrisk träning. Träningsmaskiner som idag används i stor utsträckning för att träna musklerna excentriskt använder ett svänghjul för att generera träningsmotstånd till användaren. När musklerna tränas excentriskt med en sådan maskin finns det en önskan att åstadkomma excentrisk överbelastning; detta uppnås när musklerna som tränas utsätts för en mycket hög belastning under den excentriska träningsfasen. För att uppnå detta måste användaren aktivera andra muskler som inte står i träningens fokus eller få hjälp av en annan person. I den här studien har en ny, smart, svänghjulsträningsmaskin utvecklats genom att implementera elmotor och sensorer som kan identifiera användarens träningsmönster och hjälpa till att uppnå önskvärd excentrisk överbelastning. Denna studie fokuserade på hur systemprestanda för en sådan träningsmaskin som interagerar med människor påverkades av olika grader av sensoråterkoppling. Med en ökad upplösning av sensorerna och en lägre samplingstid ökar kostnaden för systemet och det var därför av intresse att studera vilken grad av sensoråterkoppling som krävdes. Mer exakt utvärderar denna studie hur systemets prestanda förbättrades när sensorupplösningen var högre och vilken upplösning och samplingstid som krävdes för att systemet skulle fungera korrekt och säkert. Påverkan av brus och störningar på systemet utvärderades också. Studien genomfördes i simuleringsmiljö i Matlab och Simulink och verkliga tester och experiment utfördes på den befintliga svänghjulsträningsmaskinen. En inkrementell pulsgivare (incremental encoder) implementerades i systemet och dess upplösning, såväl som samplingstid, justerades i simuleringen för att testa olika kombinationer av dessa. Resultat visade att både upplösningen och samplingstiden påverkade systemets prestanda. En högre upplösning resulterade i ett mindre reglerfel till en viss del, men efter en viss ökad upplösning blev systemet instabilt om samplingstiden inte var tillräckligt liten. Brus och störningar hade en mindre inverkan på systemprestandan. Slutsatsen var att det bästa valet av pulsgivarupplösning var 0,0314 radianer med en samplingstid på 0,01 ms. Även lägre upplösning såsom 0,628 rad, 0,126 rad eller 0,0571 rad med en samplingstid på 0,1 ms kan tillåtas och bör betraktas som säkert. Systemet kan dock komma att inte fungera som önskat om dessa alternativ väljs, dock kan alternativen sänka kostnaden för systemet.

Made available in DSpace on 2014-06-11T19:22:31Z (GMT). No. of bitstreams: 0 Previous issue date: 2011-05-24Bitstream added on 2014-06-13T19:27:59Z : No. of bitstreams: 1 raniel_t_me_ilha.pdf: 1815527 bytes, checksum: 2b9558bcbd56601c8cbb627feda891cf (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / A automação de esteiras rolantes é algo comum e importante em sistemas industriais, mas problemas práticos ainda representam desafios. Um dos desses desafios é manter a precisão em sistemas que exigem paradas sistemáticas, pois folgas mecânicas tendem a provocar variações nas posições de paradas ao longo do tempo. A aplicação de motores de indução têm se tornado comum e soluções eficientes e de baixo custo têm sido pesquisadas. Neste trabalho foi desenvolvido e implementado um sistema de controle de posição e velocidade aplicado em esteiras transportadoras utilizando inversor de frequência, microcontrolador, encoder óptico incremental e sensor indutivo. O movimento da esteira transportadora é efetuado por um motor de indução trifásico, que é acionado pelo conjunto microcontrolador – inversor de frequência. Este conjunto impõe uma frequência no estator do motor através de uma troca de mensagens entre microcontrolador e inversor de frequência (Sistema Mestre-Escravo). Para o envio e recebimento das mensagens, utilizou-se o protocolo de comunicação serial USS® (Universal Serial Interface Protocol) através do padrão RS-485. Os controles de posição e velocidade de rotação do eixo do motor fundamentam-se no sinal gerado pelo encoder óptico incremental, responsável por informar a posição do eixo do motor ao longo da trajetória, e no sensor indutivo que determina uma referência externa importante para a esteira transportadora. Para o funcionamento automático da esteira, elaborou-se um software em linguagem de programação C. Como resultado obteve-se um sistema de controle de posição e velocidade do eixo do motor de indução trifásico que apresenta bons resultados / Automated conveyors system have been largely used in industrial applications. However, there are still practical issues to be overcome. One of them is due to the system mechanical limitation which can lead to low accuracy for applications based on “stop-and-go” movements. Induction motors have been largely used in such applications and low costs solutions have been searched. In this work it was developed and implemented a system of positioning and velocity control applied to conveyors which is based on frequency inverter, microcontroller, optical incremental encoder and inductive sensor. The conveyor’s movement is made by means of a three-phase induction motor, which is driven by the couple microcontroller–frequency inverter. There are messages exchange between the microcontroller and the frequency inverter (Master – Slave configuration) which is based on the communication serial protocol USS through the RS-485 standard. The position and velocity of the motor spindle are controlled using an optical incremental encoder, which is responsible to provide the position of the trajectory, and an inductive sensor which determines the initial reference to the conveyor. The software used to control the system was developed in C language. The results show a low cost system with good results

<p>Disertacija istražuje primenu fleksibilne elektronike za<br />kapacitivne senzore ugla i ugaone brzine tipa apsolutnog i<br />inkrementalnog enkodera cilindrične strukture. Razmatraju se dve<br />strukture, apsolutnog i inkrementalnog enkodera. Izvršena je analiza<br />uticaja mehaničkih nesavršenosti na funkciju kapacitivnosti.<br />Razvijena su dva prototipa kapacitivnih senzora za statičko i<br />dinamičko ispitivanje karakteristika senzora. Razvijena je<br />elektronika za obradu senzora inkrementalnog tipa sa<br />autokalibracijom senzora.</p> / <p>In this thesis a research on application of flexible electronics for capacitive<br />angular position and speed sensors, referred to as absolute and incremental<br />encoders, is done. It considers two structures of absolute and incremental<br />encoder type. An analysis of mechanical inaccuracies influence on a<br />capacitance function is conducted. Two prototypes are developed and used<br />for static and dynamic measurements of capacitive sensor&#39;s characteristics.<br />An electronics front-end for a capacitive two channel incremental encoder with<br />auto-calibration is developed.</p>

LBIC is a technique for scanning the local quantum efficiency of solar cells. This kind of measurements needs a highly specialized, and time critical controlling software. In 1996 the client, professor Markus Rinio, constructed an LBIC system, and wrote the controlling software as a Turbo-Pascal 7.0 application, running under the MS-DOS 6.22 operating system. By now (2018) both the software and several hardware components are in dire need to be modernized. This thesis thoroughly describes several important aspects of this work, and the considerations needed for a successful result. This includes both very foundational choices about the software architecture, the choice of suitable operating system, the threading model, and the adaptation to new hardware with vastly different behavior. The project also included a new hardware module for position reports and instrument triggering, as well as several adaptations to transform the DOS-based LBIC software into a pleasant modern GUI application.