apm tutorial with friction - apmonitorapmonitor.com/wiki/uploads/main/apm_tutorial_21feb12.pdf ·...
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APM Tutorial with Friction Stir Welding
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Friction Stir Welding Control Overview
Friction Stir welding is a solid state metal joining process
A rotating tool creates heat and plasticizes the metal. This allows the metal to be “stirred” around.
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Friction Stir Welding Applications
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Tutorial Overview Simulation of FSW Process
PDE of Tool Heat Transfer
Estimation with FSW Process Data First order model with variable dynamics
Temperature Control of FSW Demonstrate in simulation
PID (Proportional Integral Derivative Control) MPC (Model Predictive Control)
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FSW Process Model ‐ FOPDT Model #1 of FSW Process
First Order Plus Dead‐Time (FOPDT) Model Model predictions on same Aluminum data Gain (Kp): 131.7 °C/hp Time Constant (taup): 16.5 sec Dead‐time (thetap): 1 sec
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FSW Process Model – PDE Model Model #2 of FSW Process
PDE of Tool Heat Transfer Demonstrate model predictions on Aluminum Fit PDE model to process data
Estimate Fraction of Energy to Tool to Match Temperature
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FSW Temperature Control Current Practice
PID Control Start‐up procedure
Constant rotational speed Manual adjustments to guide temperature
Z Axis Force
Proposed Control Strategy Model based control Automatic control through start‐up
Limit overshoot Keep process within constraints
Rate of change limits for motor power (HP) Rate of change limits for tip temperature
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Comparing PID and MPCTempe
rature (°C)
Objective Order (#1=most important)#1: Observe rate of change limit#2: Move to new set point quickly#3: Minimize HP movement
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Model Predictive ControlTempe
rature (°C)
Power (H
P)
#2 Drive to Target
#1: Rate of change limits
#3: Minimum Power Changes
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Operate Within ConstraintsTempe
rature Rate (°C/sec)
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Rate of Change for PID and MPCTempe
rature Rate (°C/sec)
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Download and Run Example Problems Simulation Estimation Control
http://apmonitor.com/wiki/uploads/Main/apm_demo.zip