tailieunhanh - Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 2

Tham khảo tài liệu 'mechatronic servo system control - m. nakamura s. goto and n. kyura part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Emergence of Mechatronic Servo Systems 5 as far as possible. That is to say the motor must be selected from the clearly discussed results on the necessary maximal torque for executing operation. In addition the size of continuously mixed disturbance must be below the continuous rated torque of motor. 5. In many servo systems a feedback system can be only established based on the information of servo actuator but not according to the information of each moveable tip or motion tip. It means that the detector of position and velocity in the opposite load side of motor side without load is installed and then the feedback system of actuator control is resembled by the obtained information. This kind of control system is called a semiclosed loop. Generally it is very difficult to construct the feedback system by motion tip information in many mechanism machines. The structure of a full-closed loop on the feedback of moveable tip information adopted in some parts is shown in . In addition almost all mechanic structures of industrial six-freedom degree robots are semi-closed loop. The relation with servo actuator is briefly shown in . The structure of this kind of semi-closed loop cannot be obtained in the mechatronic servo system as same as the general feedback system. For taking into account the system as same as the general feedback system the condition is that the system should be rigidly unified with the actuator when mechanism is within the control region according to the desired motion command. 6. The actuator installed in the mechanism structured for multi-axis moveable mechanism generally corresponds to the forward motion of one actuator as well as rotation of one axis freedom degree . The arbitrary curve in three-dimensional space implemented by simultaneous control of multiple axes is given in a servo system as the command of time function about the position for desired motion in each independent axis. The precondition in control system is that