Article | Proceedings of the 10<sup>th</sup> International Modelica Conference; March 10-12; 2014; Lund; Sweden | Model-Based Energy Recuperation of Multi-Axis Machines Link�ping University Electronic Press Conference Proceedings
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Title:
Model-Based Energy Recuperation of Multi-Axis Machines
Author:
Tamás Juhász: Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany Matthias Kennel: Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany Marco Franke: Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany Ulrich Schmucker: Fraunhofer Institute for Factory Operation and Automation IFF, Magdeburg, Germany
DOI:
10.3384/ecp14096609
Download:
Full text (pdf)
Year:
2014
Conference:
Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden
Issue:
096
Article no.:
064
Pages:
609-615
No. of pages:
7
Publication type:
Abstract and Fulltext
Published:
2014-03-10
ISBN:
978-91-7519-380-9
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press; Linköpings universitet


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The peak power consumption of multi-axis production machinery (e.g. industrial robots) is determined by the forces during acceleration phases of continuous movements. The required high electric currents represent a cost factor in terms of the mains power supply. In this paper a new Modelica-based method is presented to save the mechanical braking energy of production machinery into a local flywheel-based energy recuperation system (ERS) for later utilization. An ERS has twofold advantages: on the one side it reduces the apparent power peaks from the mains power system. On the other side the overall energy consumption can also be reduced therewith. However; a mechanical ERS with a flywheel needs to be controlled in advance; as its internal inertia and the switched magnetic field introduce some dead time in the process. Therefore; the here presented approach uses an interdisciplinary Modelica model of the machinery to compute future power requirements prior execution of new movements. It is assumed that the machine program is known upfront in a textual form. The movement commands must be carried out with the virtual machine model first. The simulation computes the energy demand; according to which the stored amount of energy within the ERS (i.e. the angular velocity of its flywheel) must be controlled. The here computed reference angular velocity signal is put later also to the real controller; where the physical ERS is attached to as an extra motor. This paper presents the methodology along an example of a 3-axis robotic manipulator that is installed in the VDTC building of the Fraunhofer IFF; Magdeburg. This specific example has been used to validate the concept: 12% less power-consumption and 10% less power peaks were achieved during the operation.

Keywords: production machine; power efficiency; energy recuperation; flywheel; Modelica simulation; production machine; power efficiency; energy recuperation; flywheel; Modelica imulation; virtual NC

Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Author:
Tamás Juhász, Matthias Kennel, Marco Franke, Ulrich Schmucker
Title:
Model-Based Energy Recuperation of Multi-Axis Machines
DOI:
http://dx.doi.org/10.3384/ecp14096609
References:

[1] Juhasz, T.; Schmucker, U.: “Automatic Model Conversion to Modelica for Dymolabased Mechatronic Simulation”; Proc. of 6th International Modelica Conference, 3rd-4th March, 2008, Bielefeld, Germany, Vol. 2, pp. 719-726

[2] Thielicke, R. ; Adam, T. ; Böhme, T. ; Kennel, M.: “Entwicklung eines Werkzeuges zur automatisierten NC-Code-Generierung mit maschinennaher NC-Simulation” In: IFFWissenschaftstage, 2011 —ISBN 978-3-8396-0281-2

[3] Mirtich, B.: “Fast and Accurate Computation of Polyhedral Mass Properties” Journal of Graphics Tools, Volume 1, Number 2, 1996

[4] Schröder, D.: “Elektrische Antriebe - Regelung von Antriebssystemen“; Springer Verlag 2009; ISBN 978-3-540-89612-8

[5] rosseta Technik GmbH - http://www.rosseta.de/

[6] aradex AG - http://www.aradex.de/en

[7] VINCENT - http://www.iff.fraunhofer.de/de/geschaeftsbereiche/virtual-engineering/vincent.html

[8] AIT - www.ait.ac.at

Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Author:
Tamás Juhász, Matthias Kennel, Marco Franke, Ulrich Schmucker
Title:
Model-Based Energy Recuperation of Multi-Axis Machines
DOI:
http://dx.doi.org/10.3384/ecp14096609
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