| Abstract |
The paper deals with the evaluation of dynamic performances of electrical drives employed in industrial automation, mainly for positioning purposes of both machine tools and robotic arms. A few drives have been tested in laboratory, particularly for the performances concerning speed and position control loops. The paper reports the frequency analysis for a d.c. permanent magnet and brushless a.c. servodrives; it shows also the behavior of a direct drive motor, by demonstrating the strong dependance of its frequency response from the load inertia, by discussing the requirements for an adaptation procedure. An adaptive algorithm for position control is also presented with simulation results. |
