“使用基于模型金宝app的设计使我们的模型to develop the sophisticated pneumatic controls required for the Bionic Handling Assistant and other mechatronic designs. With Simulink PLC Coder, it is now much easier to get from a design to a product.”
RüdigerNeumann博士，Festo
受到大象行李箱的运动的启发，Festo AG开发了仿生助手，这是一种机电臂，可以与人类紧密安全地工作。与通常封闭在安全笼子中以保护附近工人的工业机器人臂不同，仿生助手助理旨在直接与人类互动。与机甲臂的偶然接触是无害的，因为手臂由压缩空气驱动的轻质聚合物组件制成。同样，气动由一个控制系统管理，该控制系统在发生碰撞时立即产生。
Festo researchers developed the control system using MATLAB®和Sim金宝appulink®用于基于模型的设计，然后使用Simulink PLC Coder™在可编程逻辑控制器（PLC）上实现。金宝app“借助基于模型的设计，我们可以建模，模拟，优化和生成代码，以在同一工具环境中实现控制器，” Festo机械系统研究部负责人RüdigerNeumann博士说。“因此，我们的开发过程不仅对仿生处理助手，而且对于任何需要使用代码生成的控制器实施的项目。”
仿生助手具有11度的自由度，是一个复杂的系统，该系统由12个气室，13个执行器和12个位置传感器。该系统的12个压力控制器和12个位置控制器协同工作以控制手臂的运动，该手臂的重量约为4磅（1.8千克），延伸至3.6英尺（1.1米）。诺伊曼说：“气动系统是高度非线性的，躯干具有弹性，因此我们无法使用简单的PID控制器。”“为了获得最佳控制器响应，我们需要主动振动阻尼和专门的非线性状态空间模型，并具有反馈和前馈控制结构。”
Festo’s research and development group is frequently asked to assess the feasibility of specialized customer applications. They traditionally developed and tested controllers for these applications on prototyping hardware. The process of creating a microcontroller solution for such a prototype, however, was time-consuming and therefore costly. “We wanted to use Festo’s own standard PLC products for real-time control without building new hardware for low-volume special controller applications,” says Neumann.
Festo developed the Bionic Handling Assistant controller using Simulink and implemented it in structured text on a Festo PLC using Simulink PLC Coder.
The researchers created plant and controller models in Simulink for the individual pneumatic chambers that make up the Bionic Handling Assistant, and ran simulations to verify controller functionality.
They generated C code from the model using Simulink Coder™。They compiled and deployed this code to prototyping hardware to conduct initial lab tests.
在MATLAB中，研究人员使用在气动臂的实验室测试中收集的测量进行了系统识别，以完善植物模型。
With a more accurate plant model in place, the team optimized the controller design in Simulink to improve its performance and stability.
They then used Simulink PLC Coder to generate IEC 61131 structured text from the optimized Simulink model of the controller. After importing the structured text into their 3S-Smart Software Solutions CoDeSys IDE, the team compiled and deployed it to a CMXR-C2 multi-axis controller from Festo.
To verify the PLC implementation, they compared its frequency response and time response against those of the Simulink model and the C code for the initial controller prototype. They performed additional iterations to improve performance by tuning the model in Simulink and regenerating structured text with Simulink PLC Coder.
The Bionic Handling Assistant has been demonstrated worldwide and has won innovation awards in Europe and North America. Festo is now using Simulink PLC Coder to develop other advanced mechatronic systems.
Complex PLC implementation automated。“在以前的项目上，我们手工编写了结构化的文本以进行馈电控制，但是使用这种手动方法在PLC上实施仿生处理助手的反馈控制实在是太复杂了，我们根本不会做到这一点。”诺伊曼。“金宝app Simulink PLC编码器使我们能够在几分钟内自动生成结构化文本。”
Technology and innovation award won。For its work on developing the Bionic Handling Assistant and enabling safer interactions between robots and humans, Festo was awarded the 250,000-euro Deutscher Zukunftspreis, the German President’s award for technology and innovation, which recognizes advances that serve mankind, improve lives, and create jobs.
New business opportunities opened。Neumann指出：“过去，为专业产品构建必要的控制器硬件非常昂贵。”下载188bet金宝搏“借助Sim金宝appulink PLC编码器，我们可以在现有的PLC硬件上轻松实现控制器设计。该功能使Festo能够为工程低量控制器产品寻求新的商机。”下载188bet金宝搏
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