EPE Association: EPE 1991 - 22 - Session 2.11: MOTION CONTROL

EPE 1991 - 22 - Session 2.11: MOTION CONTROL
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   QUALIFICATION OF DRIVES FOR MOTION CONTROL
By Alessandro De Carli [View]
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Abstract: In order to qualify commercial drives for motjon control a general criterion for selecling the structure of a drive is proposed. This criterion relates the implemented control strategy to the peculiarities of the Ioad and to the requirements in the motion of mechanical devices. These latter are presented so as their characterization can be effected by designer of mechanical devices non expert in drives. By analyzing the structure of the drive in function of the implemented control strategy it is possible to establish a direct connection with the requirements.

   STATE POSITION CONTROL FOR ELASTIC POINTING AND TRACKING SYSTEMS WITH GEAR PLAY AND COULOMB FRICTION - A SUMMARY OF RESULTS
By U. Schäfer; G. Brandenburg [View]
[Download]

Abstract: Backlash and Coulomb friction in combination with compliant gears, couplings and shafts render it difficult to achieve high-precision speed, position and force control in pointing and tracking systems, such as robots, robot grippers and machine tools. For an elastic two-mass system with backlash and Coulomb friction as an effective model of higher-order industrial systems, in which friction and backlash may act simultaneously or each one on its own, stability conditions are described. They lead to linear and nonlinear stabilization and compensation measures, which are combined with a model reference control scheme for the linear system including observers and ensure optimal operation down to lowest speeds and standstill. The results which have been proven experimentally are applicable to various types of industrial plants.

   A NEURAL APPROACH FOR ELECTROMECHANICAL SYSTEMS MODELING
By L. Fortuna; A. Gallo; S. Graziani; G. Nunnari; P. Arena [View]
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Abstract: Asynchronous machines are a topic of increasing interest in the research area of actuators. Due to the complexity of such systems, it is hard to perform efficiently the control of the asyncrhonous machine, especially when accurate descriptions are required for control purposes and models become too complex. The authors have used a neural approach to identify an induction machine alleviating the need to use complex models that can not be utilized for control aims. The problem of the identification of a non linear observer has been considered. The proposed approach has been validated by considering the results of the simulation obtained considering a classical fifth-order model.

   A GRAPHICAL ENVIRONMENT FOR A USER FRIENDLY MOTION CONTROL DEVELOPMENT SYSTEM
By R. G. Harley; D.C. Levy; M. R. Webster; L. V. Naidoo [View]
[Download]

Abstract: The design of advanced motion control systems is programmer-intensive and as a consequence it is a slow and costly process. Graphical CAD tools have the potential to alleviate this problem and are therefore important to the drive designer. This paper examines the issues involved in developing a graphical programming and visualisation environment for a high performance transputer-based motion control development system. This graphical tool minimises the drive designer' s workload by providing him with a programmerless environment for the design, implementation and verification of high performance motion control strategies. The paper addresses these issues and proposes the use of modern software engineering concepts aimed at improving the development and maintenance of such systems.

   COMPACT SOLUTION FOR THE CONTROL OF HIGH DYNAMIC SYNCHRONOUS SERVODRIVES USING A FAST MICROCONTROLLER
By D. Naunin; C. Karaali; C. E. Sechelmann [View]
[Download]

Abstract: This paper presents the concept for a compact solution of an axis controller hardware using a new microcontroller. The system may be applied to any AC or DC servodrive. In this project it is used especially for the control of high dynamic PM synchronous servodrives. The different parts of the hardware are described. The goal of the research work is the realization of an intelligent motor that integrates the machine, the power semiconductors, and the processing unit with the appropriate I/O in a single case and that can be supplied with the command values by a serial data link. Finally the measurements of an elder axis controller are shown which also will be realized with the new hardware.

   TODAY'S AC DRIVE FOR INDUSTRIAL APPLICATION IN JAPAN
By Akeshi Maeda; Tung Hai Chin; Hiroichirou Tanaka; Takashi Koga; Tsugutosi Ohtani [View]
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Abstract: The institute of Electrical Engineers of Japan established in 1976 a study team to investigate the condition of power semiconductor device in Japan and state-of-the-art technology for AC drive as well as documents, standards, and terminology related to these subjects. Since its establishment, the team has published several reports every three years. In May 1990, it published the latest report. Summarizing the report, this paper outlines the most recent condition of AC drive in Japan.

EPE 1991 - 22 - Session 2.11: MOTION CONTROL
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1991 - Conference > EPE 1991 - 22 - Session 2.11: MOTION CONTROL
	[return to parent folder]

	QUALIFICATION OF DRIVES FOR MOTION CONTROL By Alessandro De Carli	[View] [Download]
Abstract: In order to qualify commercial drives for motjon control a general criterion for selecling the structure of a drive is proposed. This criterion relates the implemented control strategy to the peculiarities of the Ioad and to the requirements in the motion of mechanical devices. These latter are presented so as their characterization can be effected by designer of mechanical devices non expert in drives. By analyzing the structure of the drive in function of the implemented control strategy it is possible to establish a direct connection with the requirements.

	STATE POSITION CONTROL FOR ELASTIC POINTING AND TRACKING SYSTEMS WITH GEAR PLAY AND COULOMB FRICTION - A SUMMARY OF RESULTS By U. Schäfer; G. Brandenburg	[View] [Download]
Abstract: Backlash and Coulomb friction in combination with compliant gears, couplings and shafts render it difficult to achieve high-precision speed, position and force control in pointing and tracking systems, such as robots, robot grippers and machine tools. For an elastic two-mass system with backlash and Coulomb friction as an effective model of higher-order industrial systems, in which friction and backlash may act simultaneously or each one on its own, stability conditions are described. They lead to linear and nonlinear stabilization and compensation measures, which are combined with a model reference control scheme for the linear system including observers and ensure optimal operation down to lowest speeds and standstill. The results which have been proven experimentally are applicable to various types of industrial plants.

	A NEURAL APPROACH FOR ELECTROMECHANICAL SYSTEMS MODELING By L. Fortuna; A. Gallo; S. Graziani; G. Nunnari; P. Arena	[View] [Download]
Abstract: Asynchronous machines are a topic of increasing interest in the research area of actuators. Due to the complexity of such systems, it is hard to perform efficiently the control of the asyncrhonous machine, especially when accurate descriptions are required for control purposes and models become too complex. The authors have used a neural approach to identify an induction machine alleviating the need to use complex models that can not be utilized for control aims. The problem of the identification of a non linear observer has been considered. The proposed approach has been validated by considering the results of the simulation obtained considering a classical fifth-order model.

	A GRAPHICAL ENVIRONMENT FOR A USER FRIENDLY MOTION CONTROL DEVELOPMENT SYSTEM By R. G. Harley; D.C. Levy; M. R. Webster; L. V. Naidoo	[View] [Download]
Abstract: The design of advanced motion control systems is programmer-intensive and as a consequence it is a slow and costly process. Graphical CAD tools have the potential to alleviate this problem and are therefore important to the drive designer. This paper examines the issues involved in developing a graphical programming and visualisation environment for a high performance transputer-based motion control development system. This graphical tool minimises the drive designer' s workload by providing him with a programmerless environment for the design, implementation and verification of high performance motion control strategies. The paper addresses these issues and proposes the use of modern software engineering concepts aimed at improving the development and maintenance of such systems.

	COMPACT SOLUTION FOR THE CONTROL OF HIGH DYNAMIC SYNCHRONOUS SERVODRIVES USING A FAST MICROCONTROLLER By D. Naunin; C. Karaali; C. E. Sechelmann	[View] [Download]
Abstract: This paper presents the concept for a compact solution of an axis controller hardware using a new microcontroller. The system may be applied to any AC or DC servodrive. In this project it is used especially for the control of high dynamic PM synchronous servodrives. The different parts of the hardware are described. The goal of the research work is the realization of an intelligent motor that integrates the machine, the power semiconductors, and the processing unit with the appropriate I/O in a single case and that can be supplied with the command values by a serial data link. Finally the measurements of an elder axis controller are shown which also will be realized with the new hardware.

	TODAY'S AC DRIVE FOR INDUSTRIAL APPLICATION IN JAPAN By Akeshi Maeda; Tung Hai Chin; Hiroichirou Tanaka; Takashi Koga; Tsugutosi Ohtani	[View] [Download]
Abstract: The institute of Electrical Engineers of Japan established in 1976 a study team to investigate the condition of power semiconductor device in Japan and state-of-the-art technology for AC drive as well as documents, standards, and terminology related to these subjects. Since its establishment, the team has published several reports every three years. In May 1990, it published the latest report. Summarizing the report, this paper outlines the most recent condition of AC drive in Japan.