Dynamic Control

[Ecastagnaro]

Hi !! I'm doing a development of 3D crane(Axis XYZ), using PI Controler to control the system's errors. I made a VI to control the motors for move a piece from initial position to another position.

But I can't setup the VI to move more pieces to other position in sequences, I want to apply a dynamic control on the block diagram to use a sequences of set points in the front panel.

How do I use the dynamic control or other type of it? Where I can found other tutorials?

Pls send me some informations in case.

Tks in advanced

Eduardo

Message Edited by Ecastagnaro on 09-29-2006 10:54 AM

[Will.D]

Correct me if I'm wrong, but from what I understood of your problem, here's what I'd do.

You've already got the ability to move the motor once.  If this movement code is not in a subvi, then put it in one, and have an input to the subvi be the movement 'number(s)' (whatever that may be - i.e. 25 for 25 cm in x).  Then create a for loop and drop this vi into the loop.  Then create an array for each axis containing the movement numbers for the different positions, etc. on the front panel.  Wire those arrays to the for loop, and make sure the tunnels are indexed.  Then wire the indexed inputs to the movement vi you created, and you should be good to go.

This would probably be a lot better if we could look at your code.  I'm just sort've guessing from your description.  If this is of no help, post your code, and someone will point you in the right direction!

[Ecastagnaro]

Day,

Tks for you advice..........Let me give to u a better explanation.

I've done a PI controller to a 3D crane using the transference function in Z using the shift register on while loop and I setup 25 positions for the crane (0 to 24), see the matrix below (For the imagine this matrix, pls look the photo DSC01192😞

[ 0   1    2   3  4

 5    6    7   8  9

10 11 12 13 14

15 16 17 18 19

20 21 22 23 24]

I can work the 3 motors in the same moment, move only from initial position to desire position, for instance:  I setup in font panel one set point to move a piece from position 3 (Initial Position) to 19 (Desire Position) . Ok the crane can do this......But I want setup more positions in sequences........

I would like setup more set points, for instance: Set point 1: 3 to 19; Set Point 2: 4 to 20 and Set point 3: 18 to 5....etc.

I attach the VI and some couples photos of the structure.

http://pg.photos.yahoo.com/ph/ecastagnaro/album?.dir=36eare2&.src=ph&store=&prodid=&.done=http%3a//p...

I'll use your advice create news subVI for a test......

PS: I use WinRAR to compress the VI.

Tks in advanced

Eduardo

Message Edited by Ecastagnaro on 09-29-2006 05:10 PM

[TCPlomp]

Hello Eduard,

I think i see your problem and understand your program.

First you have to document better! Terminals named numeric 1-5 don't make much sense.

You already got the positions to go to (in Set Point inticial
This VI is OK, but could be better:

In that way it is easier to add new position

Now if you want to move between several positions you're code should be like this:

Where I replaced the while loop with a for loop.
Moved the position control out of the loop and replaced it with an array with all the points to pass.
However if this is homework you should put some effort in optimizing (and cleaning) your code.
There are several optimizations possible in your code...
Read this:
The link to the LabVIEW Learning Center is here


Ton

Message Edited by TonP on 09-30-2006 01:55 PM

[Cristobal]

Hello Eduardo,

I would be interested in knowing which is the hardware setup that you are using to connect the motors, endocers ... I mean, what are the controller board and drives that you are using?

Thanks

[Cristobal]

Hi Eduardo again,

I forgot to ask if you are using a 3D crane from Inteco or your own crane?

Regards,

crisR