tailieunhanh - Mechatronic Servo System Control - M. Nakamura S. Goto and N. Kyura Part 3

Tham khảo tài liệu 'mechatronic servo system control - m. nakamura s. goto and n. kyura part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 4th Order Model of One Axis in a Mechatronic Servo System 21 Fig. . Block diagram of 4th order model of industrial mechatronic servo system Tm s Kg Kp U s - ỠM s - sỠM s where Tm s in equation denotes the torque generated from the motor. The first item of is the transfer function of the servo controller. The second item expresses the influence of the reaction force TL s . U s is the angle input to the motor. Kp is position loop gain. Kg is velocity amplifier gain. The transfer function from the angle input U s for the motor of the whole mechatronic servo system to the angle output ỠL s of the load can be written as below when deriving the relation equation between U s and ỠL s by eliminating ỠM s TL s Tm s from four relation equation with five variables U s 0L s ỠM s TL s Tm s refer to Fig. . G s __ao_ Ng s4 a-3 s - a2s2 ais ao _ KlKpKg a Jl Jm Kl Kg DLKpKg DlKl 1 JlJm JlJm ng JlJm Kl Dl Kg KpKg Kl 2 Jl Jl Jm Jm Ng Jm a3 D7 K Jl Jm This 4th order model of a mechatronic servo system can be effectively adopted in the development of servo parameter determination or control strategy. In the actual mechatronic servo system for changing velocity controller as PI controller it is as shown strictly in the block diagram of Fig. . To this controller in the 4th order model of Fig. velocity controller is expressed by an equivalent P control. The integral I action in velocity controller in the actual mechatronic servo system is performed for torque disturbance compensation. The time shift of output response is nominated by the gain of P 22 2 Mathematical Model Construction of a Mechatronic Servo System control. On above way the ratio gain Kg of PI control in the general motion of an actual system is not the velocity amplifier gain Kg in the model of Fig. but is expressed by the ratio gain when PI Controller is equivalent to the P control. 2 Normalized 4th Order Model for Servo Parameter Determination .