EPE Association: EPE 1985 - 14 - Lecture Session 2.07: SERVO DRIVES

EPE 1985 - 14 - Lecture Session 2.07: SERVO DRIVES
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1985 - Conference > EPE 1985 - 14 - Lecture Session 2.07: SERVO DRIVES

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   DESIGN AND OPTIMISATION OF DISCRETE HIGH RESOLUTION POSITION AND SPEED CONTROL LOOPS WITH NUMERICALLY CONTROLLED MACHINE TOOLS
By W. Papiernik [View]
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Abstract: The increased performance required of servo axes of N.C. machines has resulted in the new measurement and control concept described in this paper. A high resolution measurement device is used to acquire the actual position and speed. Subsequently, the results are processed with a digital state controller and disturbance observer. The optimisation of the regulator is by means of the method of double ratios or amplitude optimum (frequency response). The optimum adjustment is achieved via an automatic commissioning (self-optimisation).

   MODEL ALGORITMIC CONTROL : AN APPLICATION TO DC MOTOR SPEED CONTROL
By O. Kaynak; T. Ozperk [View]
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Abstract: In this paper, a recently proposed method of control, namely Model Algorithmic Control (MAC) or equivalently Model Predictive Heuristic Control (MPHC), is presented and its application to the speed control of a seperately-excited dc motor is described. The control algorithm is evaluated by a Z-80 based microcomputer system and the control voltage thus obtained is applied to a fully controlled thyristor convertor feeding the motor. MAC ensures that the behaviour of the closed-loop system is prescribed by means of a reference trajectory initiated on the actual output. Two different sets of experimental results are presented. In one, the speed reference is changed in a step fashion and the algorithm causes the speed of the motor to reach the desired speed with a time constant similar to that of the reference trajectory (regulator problem). In the other, the set speed is changed as a linear ramp (tracking problem). In both cases, it is seen that the system is capable of following the reference trajectory in spite of the changes in motor parameters.

   STABILITY OF HIGH-TORQUE, CONTROLLED-CURRENT, BRUSHLESS DC MOTOR DRIVE
By V. R. Dinov; V. D. Trenev; I. L. Ignatov [View]
[Download]

Abstract: High-performance electric drive with possible applications to machine tools and robots is described. It integrates a synchronous permanent magnets motor, supplied by controlled current-source inverter and a control system with rotor position, speed and current feedbacks. The control system realises control laws which provide wide frequency band, commutation stability, maximum driving torque and minimum speed pulsations. All these features are achieved by means of proper regulation of the shift of the inverter's switching angle oi at high speeds, and PWM of motor currents at low speeds. The PWM strategies of the controlled-current brushless d.c. motors differ from those of asynchronous motors. They are also influenced by the construction of the motor. These problems, as well as ways for their solution and experimental results are considered in the paper.

   FULLY DIGITAL CONTROL OF INDUCTION MOTOR AS SERVO DRIVE
By W. Schumacher; G. Heinemann [View]
[Download]

Abstract: Field oriented control has been successfully applied to induction motors in variable speed and servo drives. Using fast microprocessors and signal processors in a digital controller, even the current control loop can be closed in software. This eliminates most of the analogue components in previous designs. The inverter is driven by a digital pulse width modulator, that is controlled by software. Together with high resolution, high bandwidth speed and position sensing based on only one optical device for both purposes, a servo system can be developed, which outperforms dc-servo drives.

   TIME OPTIMAL MICROPROCESSOR-BASED ARMATURE CURRENT CONTROL IN A THYRISTOR-SUPPLIED DIRECT CURRENT MOTOR DRIVE IN DISCONTINUOUS MODE OF OPERATION
By P. Crnosija; S. Mihalic; N. Peric [View]
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Abstract: The possible uses of microprocessors for adaptive and time optimal armature current control of thyristor-supplied direct current motor drives have been analyzed. A time optimal microprocessor-based armature current control algorithm has been developed for the discontinuous mode of operation of the thyristor convertor. The oscillograms obtained indicated that the armature current step response of a thyristor-supplied direct current motor drive in discontinuous mode of operation can be completed within a single current pulsation.

EPE 1985 - 14 - Lecture Session 2.07: SERVO DRIVES
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1985 - Conference > EPE 1985 - 14 - Lecture Session 2.07: SERVO DRIVES
	[return to parent folder]

	DESIGN AND OPTIMISATION OF DISCRETE HIGH RESOLUTION POSITION AND SPEED CONTROL LOOPS WITH NUMERICALLY CONTROLLED MACHINE TOOLS By W. Papiernik	[View] [Download]
Abstract: The increased performance required of servo axes of N.C. machines has resulted in the new measurement and control concept described in this paper. A high resolution measurement device is used to acquire the actual position and speed. Subsequently, the results are processed with a digital state controller and disturbance observer. The optimisation of the regulator is by means of the method of double ratios or amplitude optimum (frequency response). The optimum adjustment is achieved via an automatic commissioning (self-optimisation).

	MODEL ALGORITMIC CONTROL : AN APPLICATION TO DC MOTOR SPEED CONTROL By O. Kaynak; T. Ozperk	[View] [Download]
Abstract: In this paper, a recently proposed method of control, namely Model Algorithmic Control (MAC) or equivalently Model Predictive Heuristic Control (MPHC), is presented and its application to the speed control of a seperately-excited dc motor is described. The control algorithm is evaluated by a Z-80 based microcomputer system and the control voltage thus obtained is applied to a fully controlled thyristor convertor feeding the motor. MAC ensures that the behaviour of the closed-loop system is prescribed by means of a reference trajectory initiated on the actual output. Two different sets of experimental results are presented. In one, the speed reference is changed in a step fashion and the algorithm causes the speed of the motor to reach the desired speed with a time constant similar to that of the reference trajectory (regulator problem). In the other, the set speed is changed as a linear ramp (tracking problem). In both cases, it is seen that the system is capable of following the reference trajectory in spite of the changes in motor parameters.

	STABILITY OF HIGH-TORQUE, CONTROLLED-CURRENT, BRUSHLESS DC MOTOR DRIVE By V. R. Dinov; V. D. Trenev; I. L. Ignatov	[View] [Download]
Abstract: High-performance electric drive with possible applications to machine tools and robots is described. It integrates a synchronous permanent magnets motor, supplied by controlled current-source inverter and a control system with rotor position, speed and current feedbacks. The control system realises control laws which provide wide frequency band, commutation stability, maximum driving torque and minimum speed pulsations. All these features are achieved by means of proper regulation of the shift of the inverter's switching angle oi at high speeds, and PWM of motor currents at low speeds. The PWM strategies of the controlled-current brushless d.c. motors differ from those of asynchronous motors. They are also influenced by the construction of the motor. These problems, as well as ways for their solution and experimental results are considered in the paper.

	FULLY DIGITAL CONTROL OF INDUCTION MOTOR AS SERVO DRIVE By W. Schumacher; G. Heinemann	[View] [Download]
Abstract: Field oriented control has been successfully applied to induction motors in variable speed and servo drives. Using fast microprocessors and signal processors in a digital controller, even the current control loop can be closed in software. This eliminates most of the analogue components in previous designs. The inverter is driven by a digital pulse width modulator, that is controlled by software. Together with high resolution, high bandwidth speed and position sensing based on only one optical device for both purposes, a servo system can be developed, which outperforms dc-servo drives.

	TIME OPTIMAL MICROPROCESSOR-BASED ARMATURE CURRENT CONTROL IN A THYRISTOR-SUPPLIED DIRECT CURRENT MOTOR DRIVE IN DISCONTINUOUS MODE OF OPERATION By P. Crnosija; S. Mihalic; N. Peric	[View] [Download]
Abstract: The possible uses of microprocessors for adaptive and time optimal armature current control of thyristor-supplied direct current motor drives have been analyzed. A time optimal microprocessor-based armature current control algorithm has been developed for the discontinuous mode of operation of the thyristor convertor. The oscillograms obtained indicated that the armature current step response of a thyristor-supplied direct current motor drive in discontinuous mode of operation can be completed within a single current pulsation.