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Diplomsko delo opisuje izdelavo krmilja pakirne narave. Podrobneje je opisano delovanje pakirne naprave ter uporabljene tehnične in programske rešitve, ki so bile potrebne, da je pakirna naprava na koncu delovala po specifikacijah, in bila pripravljena, da zopet služi svojemu namenu. Pakirna naprava je bila s strani naročnika poslana v naše podjetje (AMTEC.PRO) na popravilo, saj je prišlo do okvare glavnega krmilnika. Ker se le-tega ni dalo popraviti, smo se odločili, da zamenjamo okvarjen krmilnik z novim, drugačnim krmilnikom (Siemens SIMATIC S7-1200). Popravilo je torej poleg manjših mehanskih popravil, obsegalo zamenjavo krmilnega dela in posledično ponovno programiranje celotnega sistema. Prav tako se je v sklopu popravila zamenjal koračni motor in njegov gonilnik, tako da je bilo potrebno nastaviti in sprogramirati tudi delovanje le-tega. V diplomskem delu je bolj podrobno opisana tudi uporaba ter regulacija grelca, ki je namenjen varjenju prekrivnega traku na nosilni trak, ter uporaba, nastavitev, in programiranje koračnega motorja, ki je potreben za pogon nosilnega traku. Na splošno sta opisana programska rešitev delovanja naprave, ter grafični uporabniški vmesnik, ki je bil razvit za čim lažjo in čim bolj intuitivno uporabo naprave. The thesis describes the development of a control system for a packaging machine. It describes in more detail the general operation of the machine, as well as the technical and software solutions that were necessary for the packaging device to function properly and be ready to serve its purpose again. The packaging machine was sent to our company (AMTEC.PRO) by the customer for repair, since the main controller had failed. As the controller could not be repaired, we decided to replace the faulty controller with a new, different controller (Siemens SIMATIC S7-1200). In addition to minor mechanical repairs, the repair involved programming the entire system. Moreover, the stepper motor and its driver were also replaced therefore, it was necessary to set and program its operation as well. The thesis provides a more detailed description of both the use and regulation of the heater, which is responsible for welding the cover tape onto the carrier tape, as well as the use, adjustment, and programming of the stepper motor, which is necessary to drive the carrier tape. The software solution for the operation of the device and the graphical user interface, which was developed for easy and intuitive use of the device, are also described more generally.

V zaključni nalogi obravnavamo preprosto računalniško krmiljeno batno črpalko z injekcijsko brizgo, ki jo lahko krmilimo s pomočjo mikrokrmilnika Arduino. Sestavili smo program za mikrokrmilnik, ki nam omogoča dve vrsti krmiljenja. Omogoča nam ločeno krmiljenje pomika ter krmiljenje tlaka. Pri nastavljenem pomiku lahko na zunanjem senzorju opazujemo tlak, ki ga dosežemo pri določenem pomiku. Ko črpalko krmilimo z nastavljanjem tlaka, program s pomočjo PID krmilja znotraj programa uravnava pomik bata injekcijske brizge. Povratno informacijo, potrebno za delovanje PID krmilja, nam omogoča senzor tlaka, ki je povezan na mikrokrmilnik. Premikanje bata zagotovimo s pomočjo koračnega motorja, prenos rotacije motorja na navojno vreteno, s pomočjo katerega dosežemo pomikanje bata, zagotovimo z zobatim jermenom. Kot varovalko pred prevelikim pomikom bata namestimo končna stikala. In this thesis a simple syringe-based computer-controlled piston pump is presented. The pump is controlled with microcontroller Arduino. We made a program, which allows us to control the pump in two modes. One mode allows us to choose the length and direction of the path for the piston to move. During this mode we can monitor the pressure caused by the displacement of the piston. The second mode allows us to control the pump with the help of PID control. We measure the current pressure via pressure sensor, connected to the microcontroller. That information is needed for the PID control to work. Moving of the piston is ensured with the stepper motor. The transition from rotation of the motor to linear movement of the piston is ensured with the threaded spindle and the toothed belt. As a safety to ensure that the piston does not move too far into the construction, we mounted two end switches, which stop the movement of the piston.

Magistrsko delo opisuje postopek razvoja naprave elektromotornega pogona za ventile, kjer je bilo potrebno na isti tiskanini združiti varianti za dvotočkovni in tritočkovni način krmiljenja pogona, uporabiti koračni motor in optično zaznavo lege. V nalogi sta najprej predstavljena elementa prenapetostne zaščite varistor in dioda TVS, ki jih je zaradi zaščite vhoda potrebno uporabiti. Nato sledi opis napajalnih sistemov in koračnega motorja, ki poleg mikroprocesorja predstavljata najbolj ključen del elektromotornega pogona. Največji fokus je bil namenjen razvoju elektromotornega pogona, kjer je bilo sprva potrebno na osnovi dosedanjih rešitev načrtati električno vezje in izbrati komponente. Sledila je izdelava tiskanine in nato izvedba meritev, na podlagi katerih je bilo preverjeno delovanje vezja. The master's thesis describes the process of developing an electric motor drive device for valves, where it was necessary to combine two-point and three-point control variants on the same printed circuit board, using a stepper motor and optical position detection. The work first presents the elements of overvoltage protection (varistor and TVS-diode), which must be used to protect the device. Then the power supply systems and the stepper motor are described, which, in addition to the microprocessor, represent the most crucial part of the drive. The main focus of this thesis was on development of the electric motor drive, where it was initially necessary to draw the electrical circuit and select components based on existing solutions. After the printed circuit boards were drawn, the performance of the device was measured and evaluated.

Zaključno delo opisuje proces izdelave modela, za daljinsko upravljanje pristaniškega dvigala za razsuti tovor. Gre namreč za model daljinskega upravljanja dvigala AGD Konecranes. Model dvigala uporablja koračne motorje, ki pa se jih programsko krmili, smer grabilca se določa z krmilnimi palicami. Zaključno delo opisuje tudi, možnost povezave preko ethernet omrežja, ter varnostne mehanizme v primeru izpada komunikacije. The final work describes the process of creating a model for the remote control of a bulk cargo dock. This is the AGD Konecranes crane remote control model. The elevator model uses stepper motors, which are programmatically controlled, the direction of the grabber is determined by the joysticks. The final work also describes the possibility of connecting via an Ethernet network, and the security mechanisms in the event of a communication failure.

Magistrsko delo zajema celoten proces razvoja prototipa solarno sledilnega mehanizma, tako na strojnem, programskem in električnem nivoju. Opisani so postopki razvoja in solarno sledilni algoritmi. Prototip je fizični sistem, ki s svojim algoritmom sledi sončni trajektoriji po časovni referenci. To pomeni, da za sledenje potrebuje 4 podatke in sicer: zaporedna številka dneva v letu, ure, minute in geografsko širino. Po zaključenem procesu razvoja je sledilo zbiranje in analiza rezultatov. Rezultate so podajali testi. This master thesis work presents process of developing solar tracker prototype mechanism on machine, programming and electrical level. Stages of development and solar tracking algorhytms are described. Prototype is a physical system, which tracks sun trajectory by time reference with it's algorhytm. That means that for tracking it needs 4 data which are: number of day in a year, hours, minutes and geographical lattitude. After development has ended collecting and analysis of result data were done. The results were given by tests.

Namen magistrskega dela je bil izdelati sistem za regulacijo osvetljenosti prostora s pomočjo zunanjih žaluzij z uporabo koncepta internet stvari. Za sistem smo izdelali vezje za regulacijo z možnostjo povezave v internetno omrežje preko brezžične tehnologije WiFi. Glavno vezje podatke sprejema in posreduje na posrednik MQTT preko komunikacijskega protokola MQTT, ki deluje na način objavi/naroči. To da sistemu zmožnost, da ga upravljamo in nadzorujemo s pomočjo pametne naprave na daljavo na dokaj enostaven način. Glavno vezje in koncept sta zasnovana tako, da omogočata razširitev sistema v pametno okolje Smart Lab. Poleg izdelave vezja je bilo treba izdelati strojne elemente, strojno programsko opremo za vezje ter uporabniški vmesnik na aplikaciji za pametno napravo. Magistrsko delo zajema tudi opis teorije uporabe protokola MQTT, izdelavo merilnika za osvetljenost, meritev potrebnega navora za premik žaluzij in testiranje sistema. The purpose of the master’s degree was to make a system for regulation of space illumination with the help of exterior blinds in environment IoT. For this purpose we made a printed circuit with possibility to connect onto the internet with the wireless technology WiFi. The main printed circuit is receiving and then passing data onto broker MQTT with the help of communication MQTT which works using a publish/subscribe pattern. This gives the system possibility to be controlled and monitored with the help of a smart device over distance in a relatively simple way. The printed circuit and concept are both designed in a way that enables the upgrading system into environment Smart Lab. Along with the main circuit we had to design hardware parts, software and user interface on a smart device. The thesis also includes a theory background for MQTT protocol, lux meter development and implementation, measurement of torque needed for moving blinds and testing of system itself.

V pričujočem zaključnem delu je predstavljena integracija naprave za diagnostiko žarka za merjenje profila žarka v pospeševalniku delcev. Diagnostična naprava je sestavljena iz zaslona, ki se spusti v tok žarka tako, da ga prestreže. Odbiti žarek potuje proti kameri, kjer se zajeta slika obdela in shrani. Nadzorni sistem temelji na delu za krmiljenje premika in delu za zajem slik. Nadzorni sistem pospeševalnika je sestavljen iz različnih modulov in je skladen s programsko industrijsko arhitekturo in strojno opremo. Vtičnik za krmiljenje strojne opreme je implementiran v LabVIEW okolju. Grafični vmesnik za nadzor je implementiran v WinCC OA okolju. The thesis addresses the integration of beam diagnostics device for measuring the beam profile in the particle accelerator. The diagnostic device is consisted of a screen that is lowered into the beam path and therefore intercepting it. The reflected beam travels towards the camera where the image is recorded. The control system consists of two parts: for motion control and vision acquisition. The control system for the beam diagnostics measuring device is integrated into the accelerator control system which is a modular system and is consistent with the industrial software architecture and hardware. The plugin for controlling the hardware is implemented in LabVIEW. The graphical user interface is implemented in WinCC OA.

Diplomska naloga opisuje izdelavo knjižnice koračnih motorjev Beckhoff v razvojnem okolju Siemens TIA Portal za programirljive logične krmilnike Siemens. Končni cilj je bil izdelati programski blok, ki bi inženirju olajšal delo pri programiranju avtomatiziranih linij s koračnimi motorji podjetja Beckhoff. Na začetku je opisan motiv za izdelavo knjižnice, dosedanje rešitve in izhodiščne zahteve naloge. Nato je opisana primerjava dosedanjih uporabljenih motorjev in cenovna razlika dosedanjih sistemov in sistemov z novimi motorji Beckhoff. Predstavljena je idejna zasnova knjižnice, sledi izbor strojne opreme za testiranje in njen opis, na koncu pa je predstavljena programska koda knjižnice in njeno delovanje. V zaključku sledi komentar celotnega dela, težave med načrtovanjem, možnost za izboljšave in moje izkušnje pri celotnem projektu. This thesis describes the making of a Beckhoff stepper motor library for Siemens programmable logical controllers made in Siemens TIA Portal software. The main goal was to create a program block that simplifies programming automatic lines with Beckhoff stepper motors installed. The motive for making the library, the solutions made so far and the initial requirements of the task are described in the beggining. Next is a specification comparison of the new and the old motors and their price difference on different setups. After that I talk about core concept of the new library, the selection of the testing hardware and then I expain library's source code and its purpose. My comment, furher plan for inpruvements and all the troubles that occur will be defined in the last section.

V diplomski nalogi so na začetku predstavljene osnove fotografije, astrofotografija in oprema, ki je za to potrebna. V nadaljevanju se osredotočimo na princip avtomatskega sledenja, ki omogoča astrofotografijo. V osrednjem delu diplomske naloge se z mikrokrmilnikom Arduino Nanom realizira sistem za sledenje na ekvatorialni montaži teleskopa. Predstavljene so posamezne strojne in programske komponente sistema, ki omogočajo pravilno delovanje sistema. Mogoča sta dva načina pomika, ročni z daljincem in avtomatski, za katerega skrbi računalnik s sledilnim programom PHD2. Slednji deluje s pomočjo sledilne kamere in dveh koračnih motorjev, ki lahko pomikata teleskop po dveh prostorskih stopnjah. Ročni način omogoča poljuben pomik teleskopa, z višjo hitrostjo in brez tresljajev, ki so prisotni ob fizičnih premikih teleskopa. V zaključnem delu so predstavljeni rezultati samega sistema in možnosti nadgraditev. The diploma thesis initially presents the basics of photography, astrophotography and the equipment that is necessary for this. Furthermore, we focus on the autoguiding principle that enables astrophotography. In the central part of the thesis the Arduino Nano microcontroller realizes the autoguiding system on the equatorial mount of the telescope. Individual hardware and software components are presented that enable the system to function properly. The telescope can move manually with a remote or automatically with the help of a computer and PHD2 guiding program. The automatic movement is working with the help of a guide camera and stepper motors that move the telescope. Manual mode allows the telescope to be moved at a higher speed, with no vibrations present unlike with physical movements of the telescope. The final section presents the results of the system itself and the possibilities for upgrades.

V diplomskem delu je opisana izdelava stroja za vstavljanje izolacije v stator kolesnega elektromotorja. V začetku so opisane teoretične osnove mogočih rešitev za rotacijsko gibanje, translacijo in za prenos momenta. Med načrtovanjem stroja smo si pomagali z grobimi skicami, prek katerih smo si zadali smernice za detajlno konstruiranje modulov. Izdelan stroj deluje brezhibno, odpravljene so tudi vse napake, ki so bile identificirane. Cikel vstavljanja izolacije je končan v šestih minutah, izolacija je vstavljena v aksialni smeri znotraj toleranc, njena višina pa je znotraj maksimalnega radija. The thesis describes the design and manufacture of a machine for inserting insulation into a stator of an in-wheel electric motor. The thesis starts with the theoretical basics of possible solutions for rotational motion, linear translation and principles of moment transfer. During the design of the machine we helped ourselves with rough sketches, which gave us guidelines for the final design of the machine. The insulation machine works adequately, all errors which have been identified have been eliminated. The insulation insertion cycle is completed within six minutes, the insulation is inserted in the axial direction within tolerances, the height of the insulation is also within tolerance.

V diplomskem delu je predstavljen razvoj in izdelava samostojnega sistema, namenjenega predstavitvi delovanja sončnih celic in fotonapetostnih modulov. Sistem vsebuje dvoosni sledilnik sonca, ki je enostaven za uporabo in ima možnost nastavljanja občutljivosti senzorjev, baterijo, ki služi kot vir napajanja, ter merilno vezje, ki preko mikrokrmilnika na LCD zaslonu izpisuje tok polnjenja ter napetost baterije. V teoretičnem delu so predstavljene sončne celice, sledilniki sonca ter ostali ključni elementi sistema. V naslednjem delu je predstavljena izdelava posameznih sklopov, razdeljena na strojno in programsko opremo. V strojnem delu je opisana izdelava vzorčnih fotonapetostnih modulov ter konstrukcije sledilnika, vključno z načrtovanjem senzorskega dela in krmiljenja koračnih motorjev. V programskem delu pa je opisan algoritem sledenja in razložena programska koda. The diploma thesis presents the development and production of an independent system designed to demonstrate the operation of solar cells and photovoltaic modules. The system contains a dual-axis solar tracker that is easy to use and has the ability to adjust the sensitivity of sensors, a battery that serves as a power source, and a measuring circuit that displays the charging current and the battery voltage via the microcontroller on the LCD screen. In the theoretical part, solar cells, solar trackers and other key elements of the system are presented. Next section presents the production of individual sets, divided into hardware and software. Hardware part describes the production of sample photovoltaic modules and the tracker design, including the design of the sensor module and the control of the stepper motors. Software part describes the tracking algorithm and the source code.

Zasnovana in izdelana je elektromehanska, demonstracijska, linearna enota. Za doseganje zahtevanega položaja je uporabljena linearna os, ki jo načeloma lahko premika tako koračni motor kot tudi servomotor. Poudarek je na uporabi koračnega motorja. Osrednji namen je enostavno in nazorno prikazati, kako na regulacijo vplivajo posamezni členi regulatorja, vrsta regulatorja, nastavljeni parametri ter izbran pogonski motor. Uporaba sistema je preprosta, saj je potrebno v uporabniški vmesnik le vnesti zahtevane podatke in linearno os pognati. Nato preko grafičnega vmesnika spremljamo obnašanje sistema ter delovanje regulatorja. Možno je tudi analizirati gibanje linearne osi ter primerjati odzive na spremembe vhodnih parametrov. Na ta način je mogoče testirati različne koncepte vodenja oziroma regulatorje do skrajnih meja zmogljivosti, ki jih dopušča uporabljeni motor. Pri tem pa ni bojazni, da bi prišlo do poškodovanja opreme. Designed and manufactured is the electromechanical positioning unit. For the positioning is used a linear axis, which can be moved by a stepper or servo motor. The emphasis is on the use of the stepper motor. The main purpose is to simply and clearly show how the individual parts of the controller, set parameters and selected drive motor affect to the regulation. The use of the system is simple, because user only enter the required data in user interface and run the linear axis. Then, through the graphical interface monitors the behavior of the system and the functioning of the controller. It can also analyze the movement of the linear axis and compare responses to changes of input parameters. With device it is possible to test different concepts of controlling or regulating up to the limits allowed by the stepper motor. In doing so the equipment can not be damaged.

Diplomsko delo obsega pisni opis in predstavitev izdelave stroja za izdelovanje cigaret in njegovih sestavnih delov. Stroj uporabniku omogoča avtomatsko izdelavo cigaret. Cilj naloge je, da bi bil stroj dovolj enostaven za domačo uporabo, saj veliko kadilcev doma izdeluje cigarete, ker so cene že izdelanih cigaret previsoke. V uvodu so predstavljene že obstoječe rešitve in zasnova ideje. Nato je opis izdelave stroja razdeljen na dva glavna dela: mehanski in električni. V mehanskem delu so navedeni in opisani vsi pomembni mehanski elementi, v električnem delu pa so predstavljeni in opisani vsi električni deli ter krmilni program. V teoretičnem delu diplomskega dela so predstavljeni koračni motorji in njihovo krmilno vezje, mikrostikala in IR sprejemnik/oddajnik. Kot krmilni sistem je uporabljena mikrokrmilniška plošča MIŠKO, ki so jo izdelali na Fakulteti za elektrotehniko Univerze v Ljubljani. Na njej so LCD zaslon in 4 tipke, ki so namenjene uporabniku za krmiljenje stroja. The thesis includes description and presentation of building a cigarette making machine and its components. The machine is used for automated cigarette making. The objective is to make it simple enough for domestic use since many smokers tend to make cigarettes themselves, considering a pack of made cigarettes too expensive. Existing solutions and design ideas are presented in the introduction. Further, the manufacturing process is divided into two major parts: mechanical and electrical. In the former all important mechanical elements are listed and described while the latter part includes presentation and description of all electrical parts and a controller program. The theoretical part of the thesis describes stepper motors and their controller circuits, micro switches and IR sensors. The microcontroller MIŠKO, made at the Faculty of Electrical Engineering of the University of Ljubljana, is used for controlling the system. It has an LCD screen and 4 keys for defining machine settings.

Diplomska naloga opisuje različne vrste 3D tiskalnikov in izdelavo 3D tiskalnika s tehnologijo digitalnega svetlobnega procesa (Digital Light Processing ali DLP) za potrebe podjetja Doorson d.o.o. V nalogi je opisan postopek izdelave, deljen na mehanski, elektro in programski del ter podrobnejša predstavitev komponent, med katere kot pomembnejše sodijo Raspberry Pi in koračni motor. Prikazana je primerjava obstoječega 3D tiskalnika s tehnologijo ciljnega nalaganja (Fused Deposition Modeling ali FDM) z izdelanim 3D tiskalnikom s tehnologijo DLP. Predstavljena je tudi stroškovna primerjava med izdelanim 3D DLP tiskalnikom in podobnim kupljenim produktom na trgu. The thesis describes different types of 3D printers and the production of 3D printer Digital Light Processing (DLP) developed to satisfy the needs of a company Doorson d.o.o. The focus of the thesis is a manufacturing process, which is also described. It is divided into mechanical, electrical and software section, with detailed description of important components like Raspberry Pi and stepper motor. Furthermore, the thesis includes a comparison of existing 3D printer from Fused Deposition Modeling (FDM) technology to the newly created DLP 3D printer. Costs of production of 3D printer are presented and compared to the costs of the similar product purchased on the market.

Roboti, ki omogočajo gibanje v vse smeri, se imenujejo holonomični roboti. S svojimi štirimi večsmernimi kolesi (Omni wheels) se lahko robot premika ali vrti v vse smeri brez spremembe orientacije. Načrtan je bil tridimenzionalni nosilni okvir mobilnega robota, ki je bil natisnjen na 3D tiskalniku. Nanj so pritrjene komponente robota. Premikanje je bilo realiziramo s koračnimi motorji, ki omogočajo zelo natančno pozicioniranje brez povratne zanke, vse skupaj pa poteka pod nadzorom mikrokrmilnika Arduino Mega. Premik povzročimo z vnosom referenčnih vrednosti, izvrši pa se preko brezžične povezave Bluetooth. Robots that allow movement in all directions, are called holonomic robots. With its four multi–directional wheels (Omni wheels), the robot can move or rotate in any direction without changing its orientation. A supporting frame of the mobile robot was drawn and was then printed on a 3D printer. Robot components are attached to it. The moving was realized with stepper motors, which enable very accurate positioning without any feedback. The motors are controlled with a microcontroller Arduino Mega. The movement is caused with the input of new referent values and is executed via Bluetooth wireless connection.

Magistrska naloga obravnava koračne motorje, integrirano vezje DRV8825 in izdelavo krmilnika za krmiljenje bipolarnih koračnih motorjev. V prvem delu naloge je splošni opis koračnega motorja, opis bipolarnega in unipolarnega koračnega motorja in njuna primerjava. Opisani so tudi različni načini korakanja. V drugem delu je opisano integrirano vezje DRV8825. Opisane so njegove lastnosti, uporabnost, notranja zgradba in namen priključkov. Ker so za dobro delovanje integriranega vezja DRV8825 pomembni delovni pogoji, so tudi ti vključeni v nalogi. Obrazloženo je tudi, kako integrirano vezje DRV8825 regulira tok, ki teče v navitje motorja. Našteti in opisani so načini upadanja toka skozi fazna navitja motorja, ki jih nudi integrirano vezje DRV8825. Opisani so načini korakanja ter vrste zaščit, ki jih omogoča integrirano vezje DRV8825. Zaključni del naloge vsebuje opis izdelanega krmilnika, program za delovanje ter meritve, ki so pokazale, da krmilnik deluje v skladu s specifikacijami proizvajalca. This masters discusses stepping motors, integrated circuit DRV8825 and the production of a controller for controlling bipolar stepper motors. The first part is a general description of the stepper motor, a description of bipolar and unipolar stepper motor and their comparison. It also describes the various ways of stepping. In the second part of the masters we describe the integrated circuit DRV8825. It describes its features, usability, internal structure and purpose of pins. Because good working conditions are important for the functioning of the integrated circuit DRV8825, they are included in the task. It is explained how the integrated circuit DRV8825 regulates the current flowing in the motor winding. Listed and described are methods of current decay, which is provided by the integrated circuit DRV8825. Described are the methods of stepping and what kinds of protection are offered by the integrated circuit DRV8825. Final part of the masters contains a description of the design of the controller, the program for the operation and measurements that show that the controller operates by manufacturers specifications.

Diplomsko delo opisuje izdelavo variabilnega sesalnega sistema za motor z notranjim zgorevanjem in krmiljenje le-tega. Krmilnik je zasnovan na osnovi odprtokodnega mikrokrmilnika Genuino Mega 2560 ter podpornih vezij, ki delujejo kot vmesnik med tipali in krmilnikom. Premikanje sesalnega sistema je izvedeno s koračnim motorjem, ki preko jermenskega pogona premika zgornji del variabilnega sesalnega kolektorja. Cilj spreminjanja dolžine sesalnega kolektorja je v optimizaciji karakteristik motornega navora in moči ter izpustov motorja v odvisnosti od obratov s pomočjo pulzne uglasitve. The work within the scope of this thesis is a realization of variable intake manifold and its micro-controller. The controller is based on open source micro-controller Genuino Mega 2560 and support electrical circuits which serve as interface between micro-controller and sensors. Actuation of variable intake manifold is performed using stepper motor. The goal of variable intake length is to optimise gasoline engine's torque and power characteristics and engine emissions relative to RPM of the engine with the use of pulse tuning.

Glavni cilj diplomskega dela je predstavitev izdelave krmilne elektronike za vzorčevalnik mleka, katere namen je izboljšati del procesa v mlečno predelovalni industriji. Na tržišču je trenutno moč najti le zelo drage in zahtevne sisteme za takšno delovanje. Za lažje razumevanje pomembnosti vzorčenja mleka, so najprej opisane njegove lastnosti, ter možne nevarnosti za njegov kvar in poneverbo. Na kratko je predstavljen vzorčevalnik mleka ter njegov princip delovanja. Predstavljena sta izbira in testiranje komponent, ki smo jih uporabili za krmilno elektroniko. Podrobno je predstavljeno načrtovanje tiskanega vezja za mikrokrmilnik Arduino. Opisana je tudi končna integracija in testiranje celotnega sestava v realno časovnem okolju. The main aim of the thesis is to present the design and implementation of control electronics for a milk sampler. This sampler aims to improve part of the process in the dairy processing industry. Currently available systems are very expensive, complex and custom made. Initially, the milk characteristics and potential danger of milk spoiling and embezzlement are presented, emphasizing the need for milk sampling. There is also a brief presentation of the milk sampler and its principle of operation. Implemented components and their testing in the control electronics of the sampler are also described. The system is based on an Arduino mi-crocontroller. In the end, the final integration and testing of the whole sampling setup in a real time environment is presented.

V diplomskem delu smo izdelali mikroračunalniško krmiljen sistem za fotografiranje in snemanje. Izdelali smo digitalno krmiljeno linearno vodilo, nanj namestili voziček, na katerega smo pritrdili zrcalno-refleksni fotoaparat. Sistem nam omogoča ročni in avtomatski način pomikanja vozička po vodilu. Za krmiljenje smo uporabili mikroračunalniško ploščo Ready for AVR, zasnovano na mikrokrmilniku ATmega 16. Mehanski pomik pa smo izvedli s pomočjo unipolarnega koračnega motorja, ki ga krmilimo kot bipolarnega. Voziček krmili večji motor (motor 1), ki je nameščen na 120 cm dolgem vodilu in nam omogoča pomik vozička levo ali desno po njem. Sistem samodejno ostri in proži fotoaparat, ki je pritrjen na vozičku, z možnostjo zasuka 360˚. Za zasuk fotoaparata skrbi manjši unipolarni koračni motor (motor 2), ki je pritrjen na samem vozičku vodila. In this diploma thesis we have developed a microcomputer-controlled system for photography and filming. We have produced a digitally controlled linear slider, placed a dolly on it, and attached a SLR camera to the dolly. This system enables the dolly to move manually and automatically along the slider. A Ready for AVR microcomputer platform, based on the ATmega16 microcontroller, was used for controlling. With the help of a unipolar stepper motor which was wired as a bipolar, the mechanical movement was achieved. The dolly is controlled by a larger motor (motor 1) attached to the 120 cm long slider. This enables the dolly to move left and right along the slider. The system automatically sharpens and triggers the camera which is placed on a board, attached to a dolly which can be rotated for 360˚. For the rotation of the camera a smaller unipolar stepper motor (motor 2), placed on the dolly, was used.

V diplomski nalogi je predstavljen razvoj sistema za spremljanje časovnega poteka sile preboda z nadzorom pomika. Sistem uporabniku omogoča kontroliran pomik merilne glave sistema po korakih 5 μm s sočasno meritvijo sile na merilno glavo. Predstavljeni sistem lahko uporabljamo za različne aplikacije, kot npr. za določanje sile prebadanja rastlin z iglo v biologiji ali za prebadanje vrhnje plasti kože z injekcijo pri mikrodozirnih sistemih za inzulin. Cilj naloge je bil majhen, prenosljiv, samozadosten sistem sestavljen iz krmilne elektronike s pripadajočim ohišjem, motorjem, LCD prikazovalnikom, piezorezistivnim senzorjem in ogrodja. V diplomskem delu so predstavljeni sestavni deli sistema, s poudarkom na načrtovanju in izdelavi elektronskega krmilnega sistema. Na koncu so podani trije primeri meritve sile preboda. This diploma thesis presents development of a penetration force measurement system with movement control. The system enables the user to perform controlled movements of the measurement head in 5 μm increments with simultaneous measurement of exerted force on an object. Presented system can be implemented in various fields of application, such as plant penetration force detection in biology as well as in insulin micro dosing systems. The aim of this work is to present a small, portable and autonomous system, comprised of control electronics with housing, a stepper motor, LCD display, piezoelectric sensor and mechanical framework. This thesis presents the development of system components, with emphasis on design and implementation of control electronics with piezoresistive force sensor. Finally, the performed test results of penetration force are described.

Diplomsko delo analizira trenutno stanje 3D tiskalnikov na trgu. Prikazan je razvoj in principi delovanja 3D tiskalnikov. Predstavljeni so tipi 3D tiskalnikov, njihove prednosti in slabosti. Podrobneje je predstavljena zgradba in delovanje koračnih motorjev. Opravljene so meritve koračnih motorjev. Opisana je programska oprema za rokovanje s 3D tiskalniki in komponente, ki jih potrebujemo za izdelavo. Diploma se oklepa vprašanja, ali je izdelava 3D tiskalnika bolj ekonomična kot pa naložba v že končani produkt. This diploma analyzes the current status of 3D printer technology on the market. The history of 3D printer is described along with the methods of 3D printing and how 3D printing evolved through the years. The diploma paper describes what types of printers exist their strengths and weaknesses. Included is the description of stepper motors and testing of stepper motors. Software that is needed for running 3D printers is also described. The diploma paper revolves around the question if it is more economical to construct your own 3D printer or buy an already made solution.

Diplomska naloga opisuje regulacijo položaja krogle na plošči in krmiljenje krogle skozi labirint. Vodenje je izvedeno s programirljivim logičnim krmilnikom. Namen je predstaviti uporabo industrijskih komponent za avtomatizacijo na primeru zabavne aplikacije. Tako je v prvi fazi nastala simulacija regulacije položaja krogle, k celostni podobi pa je pripomogla vizualizacija regulacije. Z uspešno simulacijo regulacije se je začelo načrtovanje naprave. Zajet je opis poteka izgradnje in specifikacije mehanskih komponent. Naslednja aplikacija je krmiljenje krogle skozi labirint. Vsebuje izdelavo labirinta, opis izdelave aplikacije za krmiljenje krogle skozi labirint z uporabo igralne palice in avtomatsko vodenje. V diplomski nalogi je opisana regulacija položaja krogle na plošči z regulatorjem stanj. Opisan je tudi primer uporabe vhodov in izhodov krmilnika, saj sem naredil konzolo, ki je namenjena temu, da je uporabnik čim manj odvisen od računalnika. This thesis deals with the control of the position of a ball on a plate and with guiding the ball through a maze. The program is realised with programmable logic controller. The goal of the thesis was to present a smart and entertaining application of industrial automation components. The very first step was to develop a simulation experiment of the control of the ball’s position on the plate. We prepared 2D design plots of the device with realistic dimensions as well as a 3D version. We designed a physical device. This includes the description of the design phases, the specifications of the mechanical components. In addition, the thesis describes an application for guiding the ball through a maze. The ball can be controlled using a joystick or automatically. The thesis also treats the control of the ball’s position on the plate using a state-space controller. An illustratory example of using inputs and outputs of the controller is also included by developing an appropriate console.

V današnjem času je prioriteta meritve opravljati z računalnikom oz. avtomatskim merilnim sistemom, saj lahko izmerjene podatke shranimo, primerjamo z drugimi podatki in med njimi opravljamo različne primerjalne, logične ter računske operacije. To nam omogoča bistveno hitrejše reševanje problemov. Vendar pa smo včasih vseeno prisiljeni uporabljati starejšo opremo, ki ni avtomatizirana in je ne moremo upravljati z računalnikom. V nalogi sem opisal enega izmed možnih načinov avtomatizacije ročnega potenciometra. Na konkretnem primeru – merjenje histerezne krivulje – sem preizkusil, kakšna je funkcionalnost sistema, kakršnega sem si zamislil. Avtomatizacija sistema je smotrna, če je sistem hitrejši in natančnejši od ročne meritve. Poskusil sem poiskati najenostavnejšo rešitev z dokaj preprosto opremo, tako strojno kot tudi programsko. Problem sem poskusil rešiti s koračnim motorjem, pritrjenim na nosilec, ki ga postavimo ob napravo, ki jo želimo kontrolirati. Nowadays the priority is to take measurements with a computer or automatic measuring system so you can store the measuring data, compare them with other data or perform various comparative, logical and arithmetic operations. This allows us to speed up problem solving significantly. However, sometimes we are forced to use older equipment that is not automated and it does not allow to communicate with computer to store data. In the task I have described one of the possible ways of automation manual potentiometer. In the particular case – measuring hysteresis curve I have tested what is the functionality of the system I imagined. Automation system is efficient if the system is faster and more precise than the manual measurement. I tried to find the simplest solution with relatively simple equipment both hardware as well as software. I tried to solve the problem with a stepper motor attached to a carrier disposed adjacent to the device which we want to control.

V diplomskem delu predstavljamo poceni izvedbo 3D optičnega prebirnika predmetov, s pomočjo senzorja Kinect za Xbox 360 in motorizirane vrtljive podlage, ki smo jo izdelali za ta namen. Med potekom dela smo se seznanili z delovanjem senzorja Kinect in proučili delovanje koračnih motorjev. Za krmiljenje koračnega motorja smo zasnovali in izdelali krmilno enoto, za gradnjo 3D modela optično prebranega predmeta pa smo uporabili toge in netoge transformacije globinskih slik. In this diploma thesis we present the implementation of inexpensive 3D optical scanner using the Kinect sensor for Xbox 360 and motorized rotary base that has been designed for this purpose. During the course of work we got acquainted with Kinect sensor functionality and examined the stepper motor operation. To control the stepper motor we designed and built the control unit, and for the construction of 3D model of scanned object we used rigid and non rigid transformation of depth images.

Diplomsko delo opisuje izdelavo sekvenčnega vezja, ki je bilo realizirano z mikrokrmilnikom. V diplomi so predstavljeni tudi odprtokodna platforma Arduino in koračni motorji. V diplomskem delu je bil izdelan dvižni mehanizem, krmiljen s pomočjo računalnika ali tipk na vezju. Kot krmilni sistem je uporabljena mikrokontrolna platforma Arduino Mega 2560. Izdelano mikrokrmilno vezje krmili bipolarni koračni motor in sicer v polnokoračnem načinu. Ta koračni motor premika objekt vzdolž linearnega vodila na različne položaje po določenem, vnaprej predvidenem protokolu. Tovrstno vezje je bilo izbrano, ker ga je moč enostavno in hitro prilagoditi. This thesis describes the fabrication of a sequential circuit, which was realized with a microcontroller. The open source platform Arduino and stepper motors are also presented. In this diploma thesis a lifting mechanism was built. The mechanism is controlled by a computer or by buttons on the circuit. For this purpose the microcontrol platform Arduino Mega 2560 was used as the control system. This constructed microcontrol circuit controlls a bipolar stepper motor in a full step mode. The stepper motor moves an object along a linear guide to different positions following a certain, pre-scheduled protocol. This specific type of circuit has been chosen because of its easy and quick adjustability.

Diplomska naloga opisuje sistem za natančno pomikanje kamer in fotoaparatov. Namen projekta je bil izdelati napreden fotografski in snemalni pripomoček, s katerim je med drugim možno izdelati ''time - lapse'' fotografijo v gibanju. Sistem je opremljen s koračnim motorjem in inkrementalnim dajalnikom ter mikrokrmilnikom podjetja Atmel. Motor poganja drsnik prek zobnika in zobate letve. Sistem nam omogoča tudi samodejno proženje fotoaparata. V nalogi je predstavlejn mehanizem za prenos, delovanje posameznih elektronskih komponent in program za mikrokrmilnik. This diploma work describes a very accurate system for positioning photo cameras. The purpose of this project was designing a modern system for photographers and cinematographers, which can pruduce timelapse photography in motion. This system consists of an advanced stepper motor with encoder and microcontroller. The drive can be connected to the slider with a gear wheel and a rack attached to the slider construction. The system is also capable of triggering the camera. This diploma work presents the metal mechanism, electronic components and program code for the microcontroller.

V diplomskem delu smo se ukvarjali z izdelavo in vodenjem večnamenskega CNC stroja. Celoten sistem sestoji iz koračnih motorjev, senzorjev, močnostnega dela in napajalnika. Za praktičen prikaz so uporabljeni trije koračni motorji za XYZ gibanje ter model CNC stroja. Uporabljen protokol za dvosmeren prenos informacij od krmilnega do močnostnega dela je LPT port. Krmilni del predstavlja vmesnik z integriranim vezjem (TB6560HQ), ki ima integriran prožilni del za PWM regulacijo in močnostni del s H-mostičom, ki spreminja smer in jakost toka skozi navitje koračnih motorjev in jim daje dovolj navora za poganjanje osi. Vse procese pa upravlja računalnik oz. programski opremi Mach3 in EMC2, ki sta tudi uporabljeni pri profesionalnih maksimiziranih strojih. Model večnamenskega stroja je skonstruiran s programskima paketoma CoCreate modelling, CoCreate Drafting in sestavljen s pomočjo aluminijastih profilov in trapeznih vreten, saj so cenovno ugodnejša, vendar manj točna od krogelnih vreten. In the thesis We have dealt with the construction and management of multifunctional CNC machine. The entire system consists of stepper motors, sensors, power section and power supply. For a practical demonstration we used three stepper motors for the XYZ movement and model CNC machine. The protocol used for two-way transfer of information from the steering to the power section has an LPT port. The control part represents the interface integrated circuit (TB6560HQ) with integrated PWM control unit and power section with H-bridge, to change direction and provide enough current supply through the motors coil, to ensure sufficient torque to drive axes. All processes are controled by the computer, with the software Mach3 or EMC2, which are also used in professional machines maximized. A multifunction CNC machine is designed with the software package CoCreate Modeling, CoCreate Drafting and assembled using aluminum profiles and trapezoidal spindle, as the cost to the customer but less accurate than the ball spindles.