Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 4 pps

... 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...

Ngày tải lên: 12/06/2014, 12:04

... 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...

Ngày tải lên: 27/06/2014, 18:20

... 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...

Ngày tải lên: 10/08/2014, 05:20

... 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...

Ngày tải lên: 10/08/2014, 05:20

... 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...

Ngày tải lên: 10/08/2014, 05:20

... 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...

Ngày tải lên: 10/08/2014, 05:20

... 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...

Ngày tải lên: 10/08/2014, 05:20

... 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...

Ngày tải lên: 10/08/2014, 05:20

... 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 (...

Ngày tải lên: 10/08/2014, 05:20

... . (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...

Ngày tải lên: 10/08/2014, 05:20

... 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...

Ngày tải lên: 10/08/2014, 05:20

... )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...

Ngày tải lên: 10/08/2014, 05:20

... 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...

Ngày tải lên: 10/08/2014, 05:20

... 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,...

Ngày tải lên: 10/08/2014, 05:20

... 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...

Ngày tải lên: 10/08/2014, 05:20