Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 3 doc
mechatronic servo system control - m. nakamura s. goto and n. kyura
... various
in
ternalp
arameters
relation
to
thec
on
trol
system
structure
is
ve
ry
difficult
M. Nakamura S. Goto N. Kyura
Mechatronic
Servo System
Control
Problems in Industries
and their Theoretical Solutions
Translated ... below.
1. Modelingofamechatronic servosystem
2. Performance of oneaxis in amechatronic servosystem
3. Performance of multiple axes in amechatronic...
mechatronic servo system control m nakamura s goto and n kyura pdf
... system in future mechanis mmachinesisillustrated.
1.2.2Discussion on the Performance of One AxisinaMechatronic
ServoSystem
In ausual, mechatronic servosystem consists of multi-axis mechanism. When
taking ... servo
system includingthe mechanism part ,the servomotor driving axis included
in the mechanismpart, theservomotor andthe
servocontroller.Inthis
system, the managementpart managi...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 1 ppsx
... researchers
M. Nakamura S. Goto N. Kyura
Mechatronic
Servo System
Control
Problems in Industries
and their Theoretical Solutions
Translated by Tao Zhang
With 79 Figures and 21 Tables
13
VI
II
Fr
om
the
Tr
anslator
will ... Morikita Shuppan Co., Ltd. 19 98
All Rights Reserved.
ISSN 017 0-8 643
ISBN 3-5 4 0-2 10 9 6-2 Springer-Verlag Berlin Heidelberg...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 2 docx
... design of the servocontroller.
2. 1.1 Mechatronic Servo Systems
(1)StructureofanIndustrial MechatronicServoSystem
Fig. 2. 1 illustrates the whole structureofamechatronic servosystem. As
shown in ... coordinate andthe joint
coordinate aboutarticulatedrobot arm.
(2) Servo Controller of IndustrialMechatronic Servo System
The block diagram of servosystem of eachaxis in amechatronic s...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 3 doc
... C
0.82
0.24
τ
1
=-0 .1
τ
1
=-0 .2
τ
1
=-0 .3
τ
1
=-0 .492
τ
1
=-0 .6
τ
1
=-0 .7
τ
1
=-0 .4
(c) Condition C(d) Condition ABC
Fig.
2 .3.
Relation
of
c
p
and c
v
for various conditions
34
2M
athematical
Mo
del
Construction
of
aM
ec
hatronic
Serv
oS
ystem
ζ
2
≥ ... naturalangularfrequencyand
damping
rate),
the
serv
om
otor
is
setu
pa
ccordingt
ot
he
motors
election
met...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 4 pps
... coordinateswith
nonlinear transform. When controlling arobot armwith this control pattern,
the control system of an ind ustr ial robot arm, with eachlinear independentco-
ordinate axis, is generallyapproximatedinworking ... problemofprecisiondete-
riorationofthe contourcontrol of robotarm.
The approximation model (2 .46 ) in theworking coordinate of an articu-
lated robotarm an dits app...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 5 pptx
... aMechatronic Servo
System
The servocontroller of amechatronic system consists of the reference input
generator, the position control part, the velocitycontrol part, the current
control part and ... servosystem device used in the experimentconsistsofthe table driven
by a0.85kW DC servomotor andball spring,aservocontroller (Yaskawa
motorCPCR-MR-CA 15) andapersonalcomputer(NEC-PC...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 6 ppt
... briefly classified into
the servocontroller,motor andmechanism part. The position and velocityof
motorare controlled by the servocontroller.The controlsystem of the servo
controller is alwaysconstructed ... Software ServoSystem
(1)Software ServoSystemStructure
In asoftware servosystem, the position controller and the velocitycontroller
areconstructed in software. In addition, the current...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 7 potx
... command and currentfeedback, in order to implementthe neces-
sary controlperformance of the software servosystem, can be determinedby
equation
(4.25).
4.2.1Mathematical Model of the Mechatronic Servo ... computer. The com-
puterprogram implementsthe servocontroller.Its outputisput into servo
(a) Experimentresults of software servosystem
(b) Simulation results of software servosystem
(...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 9 ppsx
... . (6 .9)
From thecomparison between the original mechatronic servosystem (6.3 )and
the revised mechatronic servosystem (6 .9) , the modificationelementchanges
the pole of the mechatronic servosystem ... trajectory of the mecha-
tronic servosystem and G ( s )the dynamics of themechatronic servosystem.
The teachingplaybackrobot refers to the semi-closedtypecontrol system (re-
fer to...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 10 pot
... learningthe
actualdynamics of servosystem.
(2)AMathematical Model of the MechatronicServoSystem
The mathematicalmodel of amechatronic servosystem whichisnecessary
for the construction of the Gaussian network anddeterminationofthe ... elementbringsabout the phase-
lead compensation.Because of it and according to the modificationelement,
the mechatronic servosystem does not generate the gain...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 11 pps
... )is
derive
du
sing
the
po
le
assignmen
tr
egulatora
nd
the
minim
um
order
observ
er
fort
he
cont
rols
ystem
to
solv
et
he
ch
aracteristics
of
thec
losed-lo
op
system
and
transfer
it
to
the
op
en-lo
op
system
whose
relationship
of
the
input
and
outputi
se
quiv
alen
tt
ot
he
transferf
unctiono
ft
he
closed-loo
ps
ystem.
Fo
r
the control system ... PositioningControl
(1)
Mathematical...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 12 pps
... contour control.
position control system, servo, servosystem:from position command of one
axis of mechatronic servosystem, to position output of motor, including position
control part, velocitycontrol ... contour control perfor-
mance through the delaydynamics compensation of mechatronic servosystem.
position control: for realizing position of mechatronic servosystem without...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 13 pptx
... indicatedinparentheses.(in Japanese)
Chapter 2[1][2][3]
[1] J. Zou, M. Nakamura, S. Goto and N. Kyura: Model Construction and Servo
Parameter Determination of Industrial Mechatronic ServoSystems Based ... Configuration of
Industrial Mechatronic ServoSystems and Its Significance, Proceedings of the
17th SICE KyushuBranchAnnual Conference, 1998. (in Japanese)
[3] S. Goto,...
Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 14 docx
... Trans. of the Institute of Electric Engineers of Japan, vol. 115-C,
no.
1,
pp.
11 1-1 16,
1995.
(in
Japanese)
[25] S. Goto, M. Nakamura and N. Kyura: AccurateContour Control of Mechatronic
ServoSystems ... Using Gaussian Networks, IEEE Trans. Indust. Elect., vol. 43,
no.
4,
pp.
46 9-4 76,
1996.
[26] M. Nakamura, K. Tsukahara, S. Goto and N. Kyura: Contour Cont...
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