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Publicação
Protótipo Ciber-Físico de Elevador Monta-Cargas
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Orientador(es)
Resumo(s)
Nesta dissertação foi proposto o desenvolvimento de um protótipo ciber-físico de um modelo
de elevador monta-cargas. Este protótipo, denominado "MC3b", encontra-se presente
no departamento de engenharia electrotécnica da Faculdade de Ciências e Tecnologias da
Universidade Nova de Lisboa.
No trabalho desenvolvido o maior foco foi a reestruturação do sistema de controlo,
implementando novos controladores, código de programação e desenvolvendo meios de
comando do variador de velocidade mais avançados. Foi também desenvolvido um simulador
do protótipo e uma interface gráfica que permite controlar e monitorizar tanto o
sistema simulado como o sistema físico, actuando como consola Homem-Máquina virtual.
As principais contribuições foram o desenvolvimento do simulador, do sistema de
controlo do projecto físico e do programa de controlo do modelo de elevador MC3b. A
fim de demonstrar as capacidades dos controladores desenvolvidos, apresentam-se os
resultados dos mesmos em ambientes simulado e físico.
Todos os testes realizados no simulador revelaram um bom desempenho do mesmo, e
do sistema de controlo. Os testes realizados no modelo físico revelaram desafios inesperados,
devido ao erro presente em sensores, no entanto estes desafios foram cumpridos
com a implementação de novo software. Os resultados deste modelo, embora não ideais,
revelaram um bom desempenho geral dos sistemas de controlo desenvolvidos.
In this dissertation the development of a Cyber-Physical system for a prototype freight lift model was proposed. The prototype lift, named "MC3b", is located at the department of electrical engineering of FCT-UNL. The biggest focus of the developed work was the restructuring of the control system of the elevator, implementing new controllers, programming code, and developing an alternative and more advanced method of command of the variable frequency drive. A simulator of the prototype was also developed, joined by a graphical user interface which can be used for controlling and monitoring both the real and virtual prototypes, acting as a virtual Human-Machine Interface. The main contributions were the development of the simulator, control system of the phisical prototype, and respective programing code. In order to show the performance of the developed work, the results of multiple tests made to both the simulator and physical prototype are presented. Every test done to the simulator reavealed favorable results to both the simulator and the control program. However, tests made to the real system revealed unexpected challenges. This challenges were overcomed and results, although not ideal, revealed a good overall performance of the developed control systems.
In this dissertation the development of a Cyber-Physical system for a prototype freight lift model was proposed. The prototype lift, named "MC3b", is located at the department of electrical engineering of FCT-UNL. The biggest focus of the developed work was the restructuring of the control system of the elevator, implementing new controllers, programming code, and developing an alternative and more advanced method of command of the variable frequency drive. A simulator of the prototype was also developed, joined by a graphical user interface which can be used for controlling and monitoring both the real and virtual prototypes, acting as a virtual Human-Machine Interface. The main contributions were the development of the simulator, control system of the phisical prototype, and respective programing code. In order to show the performance of the developed work, the results of multiple tests made to both the simulator and physical prototype are presented. Every test done to the simulator reavealed favorable results to both the simulator and the control program. However, tests made to the real system revealed unexpected challenges. This challenges were overcomed and results, although not ideal, revealed a good overall performance of the developed control systems.
Descrição
Palavras-chave
Controlador Lógico Programável Variador de Frequência Controlo Automação Elevador Sistema Ciber-Físico