EPE Association: EPE 1989 - 15 - Lecture Session 2.8: MULTI-MOTOR DRIVES

EPE 1989 - 15 - Lecture Session 2.8: MULTI-MOTOR DRIVES
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1989 - Conference > EPE 1989 - 15 - Lecture Session 2.8: MULTI-MOTOR DRIVES

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   OPEN SYSTEM FOR COMMUNICATION IN MACHINE TOOLS
By P. Mutschler [View]
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Abstract: Several manufacturers of machine tools, drives and Numeric Controllers are working together on a proposal for standardization of a real time communication system that covers the specific requirements in a machine tool in a technical and economical optimal way. All information between the NC and the drives will be exchanged via a plastic fibre optical ring. A time slot assignment guarantees a collision free, deterministic access to the ring. Since the digital communication system is part of high speed closed control loops, several synchronizations are to be introduced to join data transmission and data processing in the NC and in the drives. The application-specific contents of the exchanged messages can be rearranged each time the ring is initialized.

   IMPROVED PERFORMANCE OF A MOBILE MANIPULATOR BY DECOUPLING THE MOTION OF VEHICLE AND ROBOT
By D. Schröder; W. Treutterer [View]
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Abstract: Today stationary working robots are a common part of industrial production plants. Due to the fixed working space, however, the universal capabilities of a robot cannot be fully used often. On the other hand mobile robot systems are able to handle also complex structured or large workpieces. Such a 'mobile manipulator' makes up a multibody and multidrive system with strong couplings between its elements. This kinetic coupling forces cause dynamic error displacements of vehicle and robot links. Thus in many cases the required accuracy of the endeffector position fails. Subsequently a method will be evaluated which supresses the disturbant displacements by using the inverse mechanical model for decoupling the motions of vehicle and robot.

   A HIGH-PERFORMANCE POSITIONING SYSTEM USING IMPROVED DIGITAL SPEED SENSING
By R. C. Kavanagh; J. M. D. Murphy; M. G. Egan [View]
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Abstract: A microcontroller-based positioning system which achieves very good performance in both point-to-point and profiling applications is described. Despite its modest hardware and computational requirements, accurate trajectory control is achieved using precise velocity information from an improved digital tachometer. This tachometer features a constant sample time and requires little or no supplementary hardware. lts open-loop performance is close to optimum for a given position transducer resolution and is comparable with that achieved using more complex edge-driven digital tachometers. In order to maximize the closed-loop potential of the device, a non-linear control algorithm is developed using a phase-space design technique. Fast, accurate positioning is achieved by calculating the optimum motor acceleration at each sample. The resulting control structure is simple but powerful, and facilitates adaptive load compensation and velocity profiling applications.

   UNIFIED CONTROL STRATEGY FOR AC MOTORS
By C. Attaianese; E. Pagano; M. Scarano [View]
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Abstract: The paper deals with some strategies for speed control of synchronous and asynchronous motors. These strategies allow to obtain optimal performances of the system motor + converter. Reference is made to the mathematical model of ac machines in terms of instantaneous symmetrical components. Two different control strategies, for impressed current supply, have been developed to optimize the ratio between the electromagnetic torque and the amplitude of the armature current. Sample numerical results for given asynchronous motors are presented and compared with other ones obtained by field oriented control strategy.

EPE 1989 - 15 - Lecture Session 2.8: MULTI-MOTOR DRIVES
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1989 - Conference > EPE 1989 - 15 - Lecture Session 2.8: MULTI-MOTOR DRIVES
	[return to parent folder]

	OPEN SYSTEM FOR COMMUNICATION IN MACHINE TOOLS By P. Mutschler	[View] [Download]
Abstract: Several manufacturers of machine tools, drives and Numeric Controllers are working together on a proposal for standardization of a real time communication system that covers the specific requirements in a machine tool in a technical and economical optimal way. All information between the NC and the drives will be exchanged via a plastic fibre optical ring. A time slot assignment guarantees a collision free, deterministic access to the ring. Since the digital communication system is part of high speed closed control loops, several synchronizations are to be introduced to join data transmission and data processing in the NC and in the drives. The application-specific contents of the exchanged messages can be rearranged each time the ring is initialized.

	IMPROVED PERFORMANCE OF A MOBILE MANIPULATOR BY DECOUPLING THE MOTION OF VEHICLE AND ROBOT By D. Schröder; W. Treutterer	[View] [Download]
Abstract: Today stationary working robots are a common part of industrial production plants. Due to the fixed working space, however, the universal capabilities of a robot cannot be fully used often. On the other hand mobile robot systems are able to handle also complex structured or large workpieces. Such a 'mobile manipulator' makes up a multibody and multidrive system with strong couplings between its elements. This kinetic coupling forces cause dynamic error displacements of vehicle and robot links. Thus in many cases the required accuracy of the endeffector position fails. Subsequently a method will be evaluated which supresses the disturbant displacements by using the inverse mechanical model for decoupling the motions of vehicle and robot.

	A HIGH-PERFORMANCE POSITIONING SYSTEM USING IMPROVED DIGITAL SPEED SENSING By R. C. Kavanagh; J. M. D. Murphy; M. G. Egan	[View] [Download]
Abstract: A microcontroller-based positioning system which achieves very good performance in both point-to-point and profiling applications is described. Despite its modest hardware and computational requirements, accurate trajectory control is achieved using precise velocity information from an improved digital tachometer. This tachometer features a constant sample time and requires little or no supplementary hardware. lts open-loop performance is close to optimum for a given position transducer resolution and is comparable with that achieved using more complex edge-driven digital tachometers. In order to maximize the closed-loop potential of the device, a non-linear control algorithm is developed using a phase-space design technique. Fast, accurate positioning is achieved by calculating the optimum motor acceleration at each sample. The resulting control structure is simple but powerful, and facilitates adaptive load compensation and velocity profiling applications.

	UNIFIED CONTROL STRATEGY FOR AC MOTORS By C. Attaianese; E. Pagano; M. Scarano	[View] [Download]
Abstract: The paper deals with some strategies for speed control of synchronous and asynchronous motors. These strategies allow to obtain optimal performances of the system motor + converter. Reference is made to the mathematical model of ac machines in terms of instantaneous symmetrical components. Two different control strategies, for impressed current supply, have been developed to optimize the ratio between the electromagnetic torque and the amplitude of the armature current. Sample numerical results for given asynchronous motors are presented and compared with other ones obtained by field oriented control strategy.