Comparison of different position controllers implemented with a Beckhoff controller and TwinCAT 3 software

    Innovations, Vol. 10 (2022), Issue 2, pg(s) 83-86

    Achieving the required dynamics and accuracy of movement of electromechanical linear axes is one of the basic tasks in the field of modern production machines and devices. In addition to a sufficiently powerful electric motor, e.g. electric servomotor, the appropriate controller and control concept also play a key role. As the top performance of the electromechanical axle controller is still a key feature of efficient and quality production, this topic is discussed in this paper.
    At the forefront of the paper are the development and implementation of various position controllers developed in the Beckhoff TwinCAT 3 environment. In addition to the classic PID controller already available in the Beckhoff software, a special PID controller has been developed in the Matlab / Simulink environment, as well as a Fuzzy controller and a Feedforward control strategy. For all mentioned types of controllers, the basic characteristics, design approach and parameterization of the controllers are presented. The efficiency of individual position controllers on an industrial-type electromechanical linear axis, driven by an electric servomotor, was tested experimentally and the results are compared.
    The efficiency of these closed loop controllers was also tested in terms of robustness and ability to adapt to changes in the control loop, where a different load of moving mass was used as a characteristic change in the control loop.


    Development and implementation of closed loop position control concepts on electromechanical linear system using Beckhoff controller

    Machines. Technologies. Materials., Vol. 16 (2022), Issue 4, pg(s) 116-119

    Electromechanical linear axes are used as actuators in many areas of industrial automation. Such axes are a fundamental building block of any machine tool, manipulator or similar device, whether they implement only one- or multi-axis positioning. Usually, servomotors or stepper motors are used to drive the axes, and the control is performed by a variety of PLC controllers and controller con cepts. The paper presents the implementation of a multi-purpose electromechanical linear axis, which enables the study, research and comparison of various linear drive concepts and types of closed loop controllers. The linear axis incorporates two different motor types: a BLDC servomotor as well as a stepper electric motor, and thus also enables comparison of these two motor types and corresponding control concepts. A multi-core Beckhoff soft PLC is used as a controller, which can implement either built-in closed loop controllers or can also implement controllers designed in the Matlab/Simulink environment.
    PID closed loop position controller built-in Beckhoff TwinCAT 3 is presented in the paper. Further on, it is compared by PID closed loop controller developed in Matlab/Simulink which was exported and imported into Beckhoff TwinCAT 3 environment in order to confirm the adequacy of importing and using Matlab/Simulink controllers on Beckhoff soft PLCs.