TY - THES A1 - Stalnyi, Volodymyr T1 - Controller Design, Implementation, and Comparison on a Ball-on-Wheel Test Rig N2 - This thesis project considers the control of the ball-on-wheel (BOW) system with proportional-integral-derivative (PID) and full-state feedback controllers. The BOW test rig consists of the wheel that is actuated by the electric motor, motor encoder, and laser sensor. The desired outcome is to stabilize the ball around the equilibrium point on top of the wheel. By employing common control design techniques and establishing appropriate Simulink models the controllers for the BOW system were implemented. The dSpace software was used to capture the performance of the controllers, while MATLAB was used for analysis. However, various issues arose during the design and commissioning processes, preventing the state-space controller to achieve the desired outcome. As a result, a performance comparison was conducted based on Simulink models, as the state-space controller design failed to perform adequately on the BOW test rig. These issues were thoroughly explained within the thesis and the implications were summarized in the conclusion. KW - PID Controller KW - State-Space Controller KW - Control Engineering KW - Matlab KW - Simulink Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:hbz:1383-opus4-17933 ER - TY - THES A1 - O'Shea, Brendan T1 - Evaluation of Solidworks on how to integrate part preparation for Additive Manufacturing in the CAD modeling process N2 - Solidworks is a CAD software that facilitates the construction of 3D models and drawings to enable production. These systems are usually designed to be used in conjunction with Subtractive Manufacturing (SM) and forming processes. This is due to the enormous portion of world-wide production in which these two processes are used. Because of this, design guidelines are customarily based on the abilities and constraints of conventional manufacturing processes. Additive Manufacturing (AM) replaces these with a new set of advantages and limitations that should be considered to assist in the design of parts. Design for Additive Manufacturing (DfAM) represents a methodology which closely resembles Design for Assembly (DFA) and Design for Manufacturing (DFM), as far as reducing component count and allow for easier manufacturing. The aim of this research is to establish DfAM criteria and to evaluate the core Solidworks software in its ability to support design using these criteria. DfAM criteria is sub-divided into two categories. Product DfAM criteria are those derived from the advantages offered by AM technology, while Process DfAM are those determined by the limitations of the AM technique used. Three example models, each addressing multiple criteria, are created in Solidworks and optimized for printing. Through this process, helpful features in the software are identified and analyzed. Embodiment of these examples by means of Fused Deposition Modeling (FDM) validates these features in an exemplary way and explores the integration of AM design practices in Solidworks. The results of this evaluation will allow further research into CAD support for AM, specifically with respect to Product DfAM. Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:hbz:1383-opus4-13823 ER - TY - THES A1 - Tran, Tung T1 - Development and Implementation of a Cascade Torque Controller for a Motor Test Rig N2 - Servo systems play an important role in the field of automation thanks to their great actuation capability. The majority of industrial servos rely on feeding back armature current for torque control based on the torque-current linear relationship. However, system non-linearity like input delay or external disturbances can make the built-in control mode no longer yields acceptable torque response. This thesis deals with two servo systems in coupling with a torque transducer on a motor test rig as part of a Hardware-in-the-Loop setup. The motor torque step response exhibits a large steady-state error and significant overshoot behavior. This thesis work takes two different approaches to develop a cascade controller that gives desired torque performance. One method is the popular PID control logic and the second is the modern State-Feedback Control architecture using Pole Placement technique. The controller design process is carried out based on an estimated plant model obtained from grey box system identification with experiment data. The designed cascade controllers are implemented and tested on the HIL system with different use cases and yield improved torque transient response with near-zero steady-state error and less than 5% overshoot under step input in both stationary and rotating conditions. The outer loop controllers are also able to reject intermittent disturbance and track low-frequency input better than the original system. The developed cascade control systems are characterized by high stability margins but limited bandwidth, hence not being able to compensate for the dynamic disturbance of frequency larger than 2.5 Hz. Overall, there are not many differences between the performance of the two control laws, as both can satisfy the system performance requirements. KW - Motor Test Rig KW - HiL Simulation KW - System Identification KW - Cascade Control KW - State Feedback Control KW - Servo Motor KW - Model Based Design Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:hbz:1383-opus4-16663 ER -