Digital Twin is a technology that aims at representing the current state of a system and predicting future scenarios in real-time through a virtual model, introducing innovative solutions in the context of monitoring, planning and improving machine performances. Digital Twin applied to electrical drives offers numerous possibilities, especially in the field of Smart Manufacturing, during both the commissioning of automatic machines and their monitoring and control. This master thesis highlights, through the development and validation of a servomechanism Digital Twin, the main challenges related to the mathematical formulation and the MathWorks Matlab Simulink implementation of the virtual models and discusses the simplifying assumptions introduced in order to achieve a real-time simulation of the physical system. The servomechanism under analysis consists of a Beckhoff AX8206 servo drive, three Beckhoff AM8111 permanent-magnet synchronous motors and a Delta robot prototype and the proposed Digital Twin allows to simulate the following: the state and transitions of the servo drive state machine, the electrical dynamics and stator winding temperature of the motors and the dynamics of the Delta robot. The digital twin has been tested and validated by integrating the Simulink models in a virtual network inside the Beckhoff Twincat real-time control software and by evaluating the model accuracy during simulations synchronized with the physical counterpart. The work contributes to demonstrate the feasibility and achievable accuracy of Digital Twin applied to electrical drives and complex mechanisms, presenting models and procedures that are easily adaptable to other applications.
Il Digital Twin ha lo scopo di rappresentare lo stato di un sistema fisico e di prevederne in tempo reale le possibili evoluzioni, e introduce soluzioni innovative nell’ambito del monitoraggio, pianificazione e miglioramento delle performance in numerosi settori dell’Ingegneria. Il Digital Twin applicato agli azionamenti elettrici offre numerose possibilità, specialmente nel campo dello Smart Manufacturing, sia nelle fasi di commissioning di macchine automatiche che nel loro monitoraggio e controllo. In questo studio, tramite lo sviluppo e validazione del Digital Twin di un servomeccanismo, si mettono in evidenza le criticità legate alla derivazione matematica e all’implementazione su MathWorks Matlab Simulink dei modelli nonché le semplificazioni introdotte per ottenere una simulazione in tempo reale del sistema fisico. Il servomeccanismo studiato è composto da un azionamento Beckhoff AX8206, tre motori sincroni a magneti permanenti Beckhoff AM8111 e un robot Delta prototipale e il Digital Twin realizzato permette di simularne le seguenti dinamiche: lo stato e le transizioni della macchina a stati dell’azionamento, la risposta elettrica e la temperatura dell’avvolgimento di statore dei motori nonchè la risposta dinamica del robot. Il digital twin è stato testato e validato integrando i modelli Simulink in una rete virtuale creata all’interno del software di controllo real-time Beckhoff Twincat e valutando l’accuratezza della simulazione sincronizzata con il sistema fisico. Il lavoro contribuisce a mettere in luce la fattibilità e precisione ottenibile da un Digital Twin applicato agli azionamenti elettrici e a meccanismi complessi, realizzando modelli e procedure facilmente adattabili ad altre applicazioni.
Real-time modeling of electrical drives and delta robots for digital twin applications
Festa, Riccardo
2022/2023
Abstract
Digital Twin is a technology that aims at representing the current state of a system and predicting future scenarios in real-time through a virtual model, introducing innovative solutions in the context of monitoring, planning and improving machine performances. Digital Twin applied to electrical drives offers numerous possibilities, especially in the field of Smart Manufacturing, during both the commissioning of automatic machines and their monitoring and control. This master thesis highlights, through the development and validation of a servomechanism Digital Twin, the main challenges related to the mathematical formulation and the MathWorks Matlab Simulink implementation of the virtual models and discusses the simplifying assumptions introduced in order to achieve a real-time simulation of the physical system. The servomechanism under analysis consists of a Beckhoff AX8206 servo drive, three Beckhoff AM8111 permanent-magnet synchronous motors and a Delta robot prototype and the proposed Digital Twin allows to simulate the following: the state and transitions of the servo drive state machine, the electrical dynamics and stator winding temperature of the motors and the dynamics of the Delta robot. The digital twin has been tested and validated by integrating the Simulink models in a virtual network inside the Beckhoff Twincat real-time control software and by evaluating the model accuracy during simulations synchronized with the physical counterpart. The work contributes to demonstrate the feasibility and achievable accuracy of Digital Twin applied to electrical drives and complex mechanisms, presenting models and procedures that are easily adaptable to other applications.File | Dimensione | Formato | |
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2023_7_Festa_02.pdf
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Descrizione: Executive Abstract
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1.98 MB
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2023_7_Festa_01.pdf
solo utenti autorizzati a partire dal 02/07/2024
Descrizione: Tesi
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8.35 MB
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Adobe PDF
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8.35 MB | Adobe PDF | Visualizza/Apri |
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https://hdl.handle.net/10589/212080