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Motion controlled cleaning of large tanks

Wahlby, Mattis (2013) In CODEN:LUTEDX/TEIE EIE920 20131
Industrial Electrical Engineering and Automation
Abstract
Reduction of the cleaning time is an important issue for companies using large tanks. A common solution is a stationary pipe going into the tank with a cleaning nozzle mounted on the end. Today the spray pattern of most cleaning systems is fixed. It would be beneficial to adjust the cleaning cycles so that the most soiled places of the tank get extra attention without increasing the total cleaning time of the tank.
This thesis develops and implements an algorithm for an arbitrary cleaning pattern for a tank with the shape of a cylinder. By using two asynchronous motors, one connected to each axis, the cleaning nozzle can move independently both horizontally and vertically. Feedback is obtained from two incremental encoders, for... (More)
Reduction of the cleaning time is an important issue for companies using large tanks. A common solution is a stationary pipe going into the tank with a cleaning nozzle mounted on the end. Today the spray pattern of most cleaning systems is fixed. It would be beneficial to adjust the cleaning cycles so that the most soiled places of the tank get extra attention without increasing the total cleaning time of the tank.
This thesis develops and implements an algorithm for an arbitrary cleaning pattern for a tank with the shape of a cylinder. By using two asynchronous motors, one connected to each axis, the cleaning nozzle can move independently both horizontally and vertically. Feedback is obtained from two incremental encoders, for positioning and speed, and two inductive sensors used to identify the position of the nozzle at start (homing). A Human Machine Interface (HMI) is used for basic control and monitoring of the process.
The main focus has been on developing the algorithm but major time has also been spent on getting the hardware to function together to enable testing. By introducing a coordinate system and converting the coordinates, given by the user, to motor positions it is possible to create a pattern of cleaning points. Varying the output signals to the motors it is possible for both motors to reach the point simultaneously and keep a constant peripheral velocity of the jet beam. Tests were carried out on a test stand without cleaning fluid. (Less)
Please use this url to cite or link to this publication:
author
Wahlby, Mattis
supervisor
organization
course
EIE920 20131
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
CODEN:LUTEDX/TEIE
report number
5320
language
English
id
4537530
date added to LUP
2014-08-29 08:40:33
date last changed
2014-09-04 08:30:01
@misc{4537530,
  abstract     = {Reduction of the cleaning time is an important issue for companies using large tanks. A common solution is a stationary pipe going into the tank with a cleaning nozzle mounted on the end. Today the spray pattern of most cleaning systems is fixed. It would be beneficial to adjust the cleaning cycles so that the most soiled places of the tank get extra attention without increasing the total cleaning time of the tank.
This thesis develops and implements an algorithm for an arbitrary cleaning pattern for a tank with the shape of a cylinder. By using two asynchronous motors, one connected to each axis, the cleaning nozzle can move independently both horizontally and vertically. Feedback is obtained from two incremental encoders, for positioning and speed, and two inductive sensors used to identify the position of the nozzle at start (homing). A Human Machine Interface (HMI) is used for basic control and monitoring of the process.
The main focus has been on developing the algorithm but major time has also been spent on getting the hardware to function together to enable testing. By introducing a coordinate system and converting the coordinates, given by the user, to motor positions it is possible to create a pattern of cleaning points. Varying the output signals to the motors it is possible for both motors to reach the point simultaneously and keep a constant peripheral velocity of the jet beam. Tests were carried out on a test stand without cleaning fluid.},
  author       = {Wahlby, Mattis},
  language     = {eng},
  note         = {Student Paper},
  series       = {CODEN:LUTEDX/TEIE},
  title        = {Motion controlled cleaning of large tanks},
  year         = {2013},
}