By Masatoshi Nakamura, Satoru Goto, Nobuhiro Kyura, Tao Zhang
This monograph provides the basics in addition to the appliance recommendations of servo keep watch over platforms, that are a key component to Mechatronics. the commercial functions and difficulties of Mechatronic Servo method keep an eye on are tested in addition to its theoretical and acceptable suggestions. The booklet is exclusive in its sort in changing a knowledge in simple terms appropriate for unique occasions previously right into a extra common know-how. This introductory monograph is aiming at scholars and engineers who're interested by the sphere of Mechatronics and Robotics.
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Extra info for Mechatronic servo system control: problems in industries and their theoretical solutions
Sample text
That is, the scale of time axis is transformed from t/ωL to t. 02 of the mechanism part in the industrial mechatronic servo system. 24). 4 Derivation of the Middle Speed 2nd Order Model Next, the middle speed 2nd order model expressing properly the industrial mechatronic servo system from 1/20 to 1/5 of rated speed can be derived. This middle speed 2nd order model is the 2nd order system. 25) and the model expressing by transfer function is as Gc2 (s) = s2 cv2 cp2 . 26) Mechatronic servo system Servo controller U(s) + - K p1 Motor and mechanism part 1 s Y(s) Position loop Fig.
82. From these results, the servo parameters Kp , Kv are calculated by the natural angular frequency ωL of the mechanism in experiment. 98 Position[1] 1 27 55 60 Time[s] 65 (a) NL = 3 0 55 60 Time[s] 65 (b) NL = 10 Fig. 5. 7, (a) NL = 3, (b) NL = 10. are given. The regulation of a mechatronic servo system, for fast response without oscillation or overshoot, can be carried out. 1). 1). The value of position loop gain Kp can be changed in the computer program. The value of velocity loop gain Kv needs the equivalent value when Kvs in Fig.
These blocks (parts) have respectively at least one or two order transfer functions. From block diagrams expressing correctly these blocks, it is very difficult to grasp quickly and entirely the features of the servo system. 1(1)). However, since these are the approximated judgment from the movement of the mechatronic servo system, it is hard to say that this possesses the distinctly theoretical ground. In this section, considering the selection method of the servo motor firstly, the necessity of the reduced order model of the mechatronic servo system is arranged as below.