Increasing efficiency of linear actuators by applying FPGA based control

Abstract

U tezi je analizirana opravdanost primene FPGA tehnologije za razvoj upravljačkog sistema za linearne aktuatore. Realizovan je upravljački sistem za servo upravljanje linearnim pneumatskim aktuatorom, čiji rad je eksperimentalno proveren. Razvijeni su i algoritmi za detekciju opterećenosti aktuatora, kao i za detekciju prepreke na nepoznatoj poziciji korišćenjem metode analize promene pritiska u komorama pneumatskog cilindra.This thesis discusses the possibilities of FPGA technology application in the development of a control system for linear actuators. A control system for servo control of linear pneumatic actuators was realized, and experimentally tested. Furthermore, algorithms were developed for detection of actuator load, as well as for detection of an obstacle in unknown position, by analysing pressure change in the pneumatic cylinder chambers